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Virtual reality environment for the generation and optimization of disassembly sequences. Integration in the Lean design for disassembly

Virtual reality environment for the generation and optimization of disassembly sequences. Integration in the Lean design for disassembly

Thesis Director: Peter MITROUCHEV (MCF-HDR, SIREP)

PhD School : I-MEP2

Start date :   01.10.2018

Proposed funding : Contrat doctoral. Demande I-MEP2 allocation MESR (Ministère de l'Enseignement Supérieure et de la Recherche) for 3 years

Brief Description :


The proposed subject is part of one of the main research themes of the DC SIREP of the G-SCOP Laboratory (, relating to modeling, simulation and optimization of disassembly operations. It follows the work already done on the identification of contacts and the generation of disassembly trajectories as well as optimization in the generation of disassembly sequences and their integration in a Virtual Reality environment.

Partners: The proposed topic is a follow-up to WP9, Task 9.1. Interaction and Manipulation within Virtual Interactive Scenes of the European Infrastructure VISIONAIR ( (2011-2015) and currently working with the research themes of LABEX PERSYVAL Lab, Research Actions, AAR Authoring Augmented Reality, WP2, Real-time capture and simulation of the real world. Representation and editing of virtual prototypes. Natural interaction with the augmented world, ( In addition, it is part of a joint research theme, as part of a collaboration, begun seven years ago, with Shanghai Key Laboratory of Mechanical Automation and Robotics of the University of Shanghai, China.

Description of the subject:

Literary research conducted as part of our recent work shows that existing simulation platforms are often poorly integrated into the product development process (PDP). Some approaches for the modeling of disassembly have been proposed but they do not allow to validate them because they do not take into account the effective geometry of the parts constituting the mechanical assembly. Thus, we have to define the mobility among the components by a set of intrinsic information of the contacts. We also need complete models, able to describe the allowed movements for mechanical assembly components for simulations of interactive, real-time or immersive assembly/disassembly (A / D) operations.


In this context, the objectives of the proposed research subject are:
- To propose a method for planning and simulating of A/D operations of the product based on LCA (Life Cycle Analysis).
- To establish a model based on the proposed method to lead to a disassembly tree based on a hierarchical analysis of the components constituting the product. The tree will generate disassembly sequences. The model will be based on the Digital MockUp (DMU) model of the mechanical assembly.
- To optimize the possible disassembly sequences according to different criteria, including the lowest cost in the current disassembly process.
- To integrate the disassembly process sequence generation method into a virtual reality (VR) system with a perception model.
- To validate the model, thanks to its integration in a restricted virtual environment allowing the simulation of A/D operations within the framework of the existing data processing environment, as its integration in the PDP for the purpose of the Lean design for disassembly.

Thus, the validation of the disassembly sequences will help the designers to estimate the level until the product can be dismantled from the initial phase of its design.

Note: No level of French is required

Skills and Profile:

The candidate should hold a Master Degree amongst: Mechanics, Robotics, Industrial Engineering, Artificial Intelligence.

Fluency in English is a plus.

Desired knowledge Catia V5, C++, MatLab, CAD…


[1] Iacob R., Mitrouchev P., Léon J-C., Contact identification for assembly/disassembly simulation with a haptic device, 4-th Intuition Conference on Virtual Reality and Virtual Environments proceedings, 4-5 October 2007, Athens, Greece, pp. 111-249.

[2] Iacob R., Mitrouchev P., Léon J-C., 2007, A simulation framework for assembly/disassembly process modelling, ASME’2007, IDETC/CIE Conferences, Computers and Information in Engineering Conference, September 4-7, 2007, Las Vegas, Nevada, USA.

[3] Iacob R., Mitrouchev P., Léon J-C., Contact identification for assembly/disassembly simulation with a haptic device, The Visual Computer, ISSN: 0178-2789, Ed. Springer-Verlag, (2008) 24: 973-979.

[4] Iacob R., Mitrouchev P., Léon J-C., Assembly simulation incorporating component mobility modelling based on functional surfaces, The International Journal of Advanced Manufacturing Technology, Ed. Springer, ISSN: 0268-3768, 2009, (en presse).

[5] Iacob R., Popescu D., Mitrouchev P., Assembly/disassembly analysis and modelling techniques: a review, Strojniški vestnik, Journal of Mechanical Engineering, 58 (2012) 11, 653-664, DOI:10.5545/sv-jme.2011.183.

[6] Wang Chenggang, “Generation of disassembly ranges. Integration in a Virtual Reality environment”, Thèse de Doctorat, INPGrenoble, novembre 2014.

[7] Mitrouchev P., Wang C, LI G., Lu L., Selective Disassembly sequences generation based on lowest levels disassembly graph method. IJAMT-International journal of advanced manufacturing technology, Ed. Springer, Volume 80, Issue 1 (2015), pp. 141-159. (3 citations) Ed. Springer, DOI 10.1007/s00170-016-8827-6.

[8] Chenggang WANG, Peter MITROUCHEV, Guiqin LI and Lixin LU, Disassembly operations’ efficiency evaluation in virtual environment, IJCIM-International Journal of Computer Integrated Manufacturing, Ed. Taylor & Francis, , 2015, (DOI: 10.1080/0951192X.2015.1033752.

[9] Peter Mitrouchev, Cheng-gang Wang, Jing-tao Chen, Disassembly Process Simulation in Virtual Reality Environment, in Advances on Mechanics, Design Engineering and Manufacturing, Lecture Notes in Mechanical Engineering, DOI 10.1007/978-3-319-45781-9_63

[10] Chen Jingtao, “Biomechanical analysis of haptic interaction. Application”, Thèse de Doctorat, Grenoble INP, janvier 2017.

[11] Jingtao Chen, Peter Mitrouchev, Sabine Coquillart, Franck Quaine, Disassembly task evaluation by muscle fatigue estimation in Virtual reality environment, International Journal of Advanced Manufacturing Technology, Ed. Springer, 2016, DOI 10.1007/s00170-016-8827-6

[12] P. Mitrouchev, J. Chen, S. Coquillart and F. Quaine, Length perception in virtual reality environment, MIT- Management and Innovative Technologies 2016 Conference Proceedings, Fiesa, Slovenia, 05-07 September, 2016, pp. 56-62.

[13] P. Mitrouchev, C. Wang, J. Chen, Virtual disassembly sequences generation and evaluation, 6th CIRP Conference on Assembly Technologies and Systems (CATS), Goteborg, Sweden, Ed. Elsevier, Procedia CIRP 44 (2016 ) 347 – 352.

[14] P. Mitrouchev, C. Wang, J. Chen, Virtual reality environment for disassembly sequences generation and evaluation, EuroVR2015, Milano, October 15-16, 2015.

[15] Wang C., Mitrouchev P., Li G. and Lu L., 3D Geometric Removability Analysis for Virtual Disassembly evaluation, Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014), July 8-11, 2014, Besançon, France, 6 pages (CD-ROM, paper N°DETC2014-34943).

[16] Said H., Mitrouchev P., Tollenaere M., Disassembly sequencing for end-of-life products, Proceedings of Joint Conference on Mechanical, Design Engineering & Advanced Manufacturing, Toulouse : France (2014)

[17] Wang C., Mitrouchev P., Li G., Lu L-X., Least levels disassembly graph method for selective disassembly planning, ASME 2014 International Design and Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2014, August 17-20, 2014 in Buffalo, NY., USA, 10 pages (CD-ROM, paper N°#264).

[18] R. Iacob, D. Popescu, F. Noel, T. Louis, P. Mitrouchev, A. Larcher, Assembly simulation using haptic devices, MIT 2014 Conference Proceedings, Fiesa, Slovenia, 27.09-01.10 2014, pp.19-25.

[19] P. Mitrouchev J. Chen, F. Mafray, Y. Zheng, Enumeration of driving mechanisms in robotics by combinatorial analysis method, in : Mechanisms and Machine Science 37, Robotics and mechatronics, The 4-th IFTOMM International Symposium on Robotics and Mechatronics, 2015 Poitiers (France) , Ed. Springer, ISBN: 978-3-319-22367-4, Chapter 5, pp 41-49.

Required Skills

Desired knowledge: Catia V5, C ++, MatLab, CAD ...

 Contact(s) :


'04 76 57 47 00, Fax : 04 76 57 46 96,



Date of update March 16, 2018

Univ. Grenoble Alpes