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

46 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

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10.1109/TMECH.2018.2800285

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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

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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.",

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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",

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doi = "10.1109/TMECH.2018.2800285",

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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

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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

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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.

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KW - in-situ inspection/maintenance

KW - multiaxis manipulation of end-effectors

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KW - robotized machine tool

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

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Keywords

ASJC Scopus subject areas

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