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

Research output: Journal PublicationArticlepeer-review

26 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 languageEnglish
Pages (from-to)978-981
Number of pages4
JournalIEEE/ASME Transactions on Mechatronics
Volume23
Issue number2
DOIs
Publication statusPublished - 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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