Robotic Boreblending: The Future of In-Situ Gas Turbine Repair

David Alatorre, Bilal Nasser, Amir Rabani, Adam Nagy-Sochacki, Xin Dong, Dragos Axinte, James Kell

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1401-1406
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 27 Dec 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/TerritorySpain
CityMadrid
Period1/10/185/10/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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