MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

Dragos Axinte; Xin Dong; David Palmer; Adam Rushworth; Salvador C. Guzman; Aitor Olarra; Iñigo Arizaga; Eneko Gomez-Acedo; Kristine Txoperena; Kai Pfeiffer; Felix Messmer; Matthias Gruhler; James Kell

doi:10.1109/TMECH.2018.2800285

MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

Dragos Axinte, Xin Dong, David Palmer, Adam Rushworth, Salvador C. Guzman, Aitor Olarra, Iñigo Arizaga, Eneko Gomez-Acedo, Kristine Txoperena, Kai Pfeiffer, Felix Messmer, Matthias Gruhler, James Kell

Department of Mechanical, Materials and Manufacturing Engineering

Research output: Journal Publication › Article › peer-review

51 Citations (Scopus)

Abstract

This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.

Original language	English
Pages (from-to)	978-981
Number of pages	4
Journal	IEEE/ASME Transactions on Mechatronics
Volume	23
Issue number	2
DOIs	https://doi.org/10.1109/TMECH.2018.2800285
Publication status	Published - Apr 2018

Keywords

Continuum robot
in-situ inspection/maintenance
multiaxis manipulation of end-effectors
navigation
robotized machine tool
walking hexapod

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/TMECH.2018.2800285

Cite this

Axinte, D., Dong, X., Palmer, D., Rushworth, A., Guzman, S. C., Olarra, A., Arizaga, I., Gomez-Acedo, E., Txoperena, K., Pfeiffer, K., Messmer, F., Gruhler, M., & Kell, J. (2018). MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments. IEEE/ASME Transactions on Mechatronics, 23(2), 978-981. https://doi.org/10.1109/TMECH.2018.2800285

@article{0d793a53630b4045a2d9b8646aa0d480,

title = "MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments",

abstract = "This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.",

keywords = "Continuum robot, in-situ inspection/maintenance, multiaxis manipulation of end-effectors, navigation, robotized machine tool, walking hexapod",

author = "Dragos Axinte and Xin Dong and David Palmer and Adam Rushworth and Guzman, {Salvador C.} and Aitor Olarra and I{\~n}igo Arizaga and Eneko Gomez-Acedo and Kristine Txoperena and Kai Pfeiffer and Felix Messmer and Matthias Gruhler and James Kell",

note = "Publisher Copyright: {\textcopyright} 1996-2012 IEEE.",

year = "2018",

month = apr,

doi = "10.1109/TMECH.2018.2800285",

language = "English",

volume = "23",

pages = "978--981",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

}

Axinte, D, Dong, X, Palmer, D, Rushworth, A, Guzman, SC, Olarra, A, Arizaga, I, Gomez-Acedo, E, Txoperena, K, Pfeiffer, K, Messmer, F, Gruhler, M & Kell, J 2018, 'MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments', IEEE/ASME Transactions on Mechatronics, vol. 23, no. 2, pp. 978-981. https://doi.org/10.1109/TMECH.2018.2800285

TY - JOUR

T1 - MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

AU - Axinte, Dragos

AU - Dong, Xin

AU - Palmer, David

AU - Rushworth, Adam

AU - Guzman, Salvador C.

AU - Olarra, Aitor

AU - Arizaga, Iñigo

AU - Gomez-Acedo, Eneko

AU - Txoperena, Kristine

AU - Pfeiffer, Kai

AU - Messmer, Felix

AU - Gruhler, Matthias

AU - Kell, James

PY - 2018/4

Y1 - 2018/4

N2 - This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.

AB - This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.

KW - Continuum robot

KW - in-situ inspection/maintenance

KW - multiaxis manipulation of end-effectors

KW - navigation

KW - robotized machine tool

KW - walking hexapod

UR - http://www.scopus.com/inward/record.url?scp=85041392357&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2018.2800285

DO - 10.1109/TMECH.2018.2800285

M3 - Article

AN - SCOPUS:85041392357

SN - 1083-4435

VL - 23

SP - 978

EP - 981

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

IS - 2

ER -

MiRoR - Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this