TY - GEN
T1 - Robotic Boreblending
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
AU - Alatorre, David
AU - Nasser, Bilal
AU - Rabani, Amir
AU - Nagy-Sochacki, Adam
AU - Dong, Xin
AU - Axinte, Dragos
AU - Kell, James
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Automation of inspection and repair tasks on complex installations is gaining attention from industries with high-value assets such as aerospace, nuclear and marine. This paper reports on a five degrees of freedom robotic system capable of performing accurate and repeatable repair procedures through a narrow inspection port, which minimizes the cost and downtime associated with unscheduled maintenance. Careful study of the target working volume and repair process informed the design of a robotic probe capable of replicating the operation. Kinematic analysis of the robot's flexible, prismatic and rotary joints was used to define accurate machining paths in 3D space, and the results were verified using an optical motion capture system (accuracy of 0.25 mm). After comprehensive verifications of the constitutive elements, the robotic system was successfully demonstrated for repair of a high-pressure compressor aerofoil in a gas turbine. The results not only proves the ability of the system to address such difficult repair scenarios but also highlights a domain of opportunities in developing specialist robotics for repair of high-value assets, which is a subject to growing global demand.
AB - Automation of inspection and repair tasks on complex installations is gaining attention from industries with high-value assets such as aerospace, nuclear and marine. This paper reports on a five degrees of freedom robotic system capable of performing accurate and repeatable repair procedures through a narrow inspection port, which minimizes the cost and downtime associated with unscheduled maintenance. Careful study of the target working volume and repair process informed the design of a robotic probe capable of replicating the operation. Kinematic analysis of the robot's flexible, prismatic and rotary joints was used to define accurate machining paths in 3D space, and the results were verified using an optical motion capture system (accuracy of 0.25 mm). After comprehensive verifications of the constitutive elements, the robotic system was successfully demonstrated for repair of a high-pressure compressor aerofoil in a gas turbine. The results not only proves the ability of the system to address such difficult repair scenarios but also highlights a domain of opportunities in developing specialist robotics for repair of high-value assets, which is a subject to growing global demand.
UR - http://www.scopus.com/inward/record.url?scp=85063004397&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8594155
DO - 10.1109/IROS.2018.8594155
M3 - Conference contribution
AN - SCOPUS:85063004397
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1401
EP - 1406
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 October 2018 through 5 October 2018
ER -
