Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments

Xin Dong; Mingfeng Wang; Abdelkhalick Mohammad; Weiming Ba; Matteo Russo; Andy Norton; James Kell; Dragos Axinte

doi:10.1109/TMECH.2021.3138222

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments

Xin Dong, Mingfeng Wang, Abdelkhalick Mohammad, Weiming Ba, Matteo Russo, Andy Norton, James Kell, Dragos Axinte

Research output: Journal Publication › Article › peer-review

25 Citations (Scopus)

Abstract

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.

Original language	English
Pages (from-to)	4217-4220
Number of pages	4
Journal	IEEE/ASME Transactions on Mechatronics
Volume	27
Issue number	5
Early online date	18 Jan 2022
DOIs	https://doi.org/10.1109/TMECH.2021.3138222
Publication status	Published Online - 18 Jan 2022
Externally published	Yes

Keywords

Challenging environment
collaboration
continuum robot

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2021.3138222

Cite this

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title = "Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments",

abstract = "This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.",

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AU - Wang, Mingfeng

AU - Mohammad, Abdelkhalick

AU - Ba, Weiming

AU - Russo, Matteo

AU - Norton, Andy

AU - Kell, James

AU - Axinte, Dragos

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AB - This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.

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Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments

Abstract

Keywords

ASJC Scopus subject areas

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