In general, the disassembly procedure is the main step in the end of life of products. This procedure is mainly done manually until now. On the other hand, industry 4.0 (I4.0) is associated with the numerical age. The whole object is digital: environments, manufacturing systems, machineries, workers, robots and products. All those should be interconnected within a digital setting. Assembly and Disassembly actions by human and robot can grow the efficiency and reduce the product cost. Until now, research works on Assembly and Disassembly Plans has not integrated the I4.0 objectives in order to guarantee concurrency and persistence of industries. In this paper a new method for DP generation with human and robot interoperability is developed. The proposed method produces optimal DP plans with human and robots assignment of tasks. To show the added value of the developed method, an industrial mechanism, selected from the literature, is implemented. Indeed, the proposed method produces multiple strategies of the disassembly plan which allows completely dismantling a complex product. Various disassembly scenarios are generated. Each scenario is evaluated and compared to others. The optimal one consumes 270s and allows a gain of 87.87% compared to the sequential method which uses 2226.4s.
