Hierarchical Pipe System Disassembly Sequence Planning By Dynamic Self-Adaptive Tree Based Motion Planning

This paper represents a hierarchical pipe system disassembly method by using dynamic self-adaptive tree (DSAT) based motion planning to perform disassembly for a complex pipe system. A pipe system CAD model is prepared initially to indicate the environment of the disassembly procedure. The improved motion planning method provides basic algorithm support for indicating the feasible escape path of single a part. Our technic gradually reduces the complexity of the pipe system to generate a hierarchical structure which takes all geometric information of the system. The hierarchical structure is preserved and used for the generation of a disassembly relationship graph which indicates the feasible disassembly sequences.