This thesis work focuses on enforcing the Circular Economy (CE) with Industry 4.0 (I4.0) enablers. The thesis shows the realisation of an application at the I4.0 Laboratory of the Politecnico di Milano, within the European projects FENIX and TREASURE. Those projects deals with the recovery of PCB components through desoldering operations with a collaborative robot (cobot). The objective of the thesis work is to create a Graphical User Interface (GUI) to improve the collaboration between the human and the cobot within the TREASURE project, in order to increase the automation level of the already FENIX semi-automated disassembly process. The application will be carried out with a Franka Emika Panda Cobot. The GUI implementation will be presented in detail including the construction of the ROS working environment to manage all the communications within the GUI, the human and the cobot.
Questo lavoro di tesi si concentra sull’applicazione dell’Economia Circolare (CE) attraverso gli elementi abilitanti dell’Industria 4.0 (I4.0). La tesi mostra la realizzazione di un’applicazione presso il Laboratorio I4.0 del Politecnico di Milano, nell’ambito dei progetti europei FENIX e TREASURE. Questi progetti si occupano del recupero di componenti PCB attraverso operazioni di dissaldatura con un robot collaborativo (cobot). L’obiettivo del lavoro di tesi è quello di creare un’interfaccia grafica utente (GUI) per migliorare la collaborazione tra l’uomo e il cobot nell’ambito del progetto TREASURE, al fine di aumentare il livello di automazione del processo di disassemblaggio semi-automatico già presente in FENIX. L’applicazione sarà realizzata con un cobot Franka Emika Panda. Verrà presentata in dettaglio l’implementazione della GUI, compresa la costruzione dell’ambiente di lavoro ROS per gestire tutte le comunicazioni tra la GUI, l’uomo e il cobot.
A cobot based application for PCB disassembly
Gandini, Lorenzo Francesco
2021/2022
Abstract
This thesis work focuses on enforcing the Circular Economy (CE) with Industry 4.0 (I4.0) enablers. The thesis shows the realisation of an application at the I4.0 Laboratory of the Politecnico di Milano, within the European projects FENIX and TREASURE. Those projects deals with the recovery of PCB components through desoldering operations with a collaborative robot (cobot). The objective of the thesis work is to create a Graphical User Interface (GUI) to improve the collaboration between the human and the cobot within the TREASURE project, in order to increase the automation level of the already FENIX semi-automated disassembly process. The application will be carried out with a Franka Emika Panda Cobot. The GUI implementation will be presented in detail including the construction of the ROS working environment to manage all the communications within the GUI, the human and the cobot.File | Dimensione | Formato | |
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A cobot-based application for PCB disassembly(Gandini Lorenzo Francesco).pdf
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https://hdl.handle.net/10589/196096