In-situ repair/maintenance with a continuum robotic machine tool in confined space

Xin Dong, David Palmer, Dragos Axinte, James Kell

Research output: Journal PublicationArticlepeer-review

27 Citations (Scopus)

Abstract

In-situ repair/maintenance is critical for the key industry sectors (e.g. aerospace, nuclear), which require prompt interventions. The paper reports on a tendon driven continuum robotic machine tool with high manoeuvrability in navigating and machining within confined workspaces. The design reveals the main working principles of the robotic machine tool, followed by its calibration method and a new kinematics compensation approach to account for the deformation of the actuation cables that is that the key enabler for its use in machining tasks, which is based on the geometry of the actuation system. Finally, a set of experimental trials were conducted to show its ability to perform in-situ accurate machining operations in a mock-up aerospace scenario.

Original languageEnglish
Pages (from-to)313-318
Number of pages6
JournalJournal of Manufacturing Processes
Volume38
DOIs
Publication statusPublished - Feb 2019
Externally publishedYes

Keywords

  • Calibration
  • Continuum robotic machine tool
  • Kinematics
  • Machine trajectory
  • Mechanical design

ASJC Scopus subject areas

  • Strategy and Management
  • Management Science and Operations Research
  • Industrial and Manufacturing Engineering

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