Outputs (34)

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments (2022)
Journal Article
Dong, X., Wang, M., Mohammad, A. E. K., Ba, W., Russo, M., Norton, A., Kell, J., & Axinte, D. (2022). Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments. IEEE/ASME Transactions on Mechatronics, 27(5), 4217-4220. https://doi.org/10.1109/TMECH.2021.3138222

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

Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator (2021)
Journal Article
Russo, M., Sriratanasak, N., Ba, W., Dong, X., Mohammad, A., & Axinte, D. (2022). Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator. IEEE Robotics and Automation Letters, 7(2), 1558-1565. https://doi.org/10.1109/LRA.2021.3139371

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment,... Read More about Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator.

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., & Kell, J. (2021). An efficient follow-the-leader strategy for continuum robot navigation and coiling. IEEE Robotics and Automation Letters, 6(4), 7493 - 7500. https://doi.org/10.1109/LRA.2021.3097265

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to... Read More about An efficient follow-the-leader strategy for continuum robot navigation and coiling.

Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots (2021)
Journal Article
Ba, W., Dong, X., Mohammad, A., Wang, M., Axinte, D., & Norton, A. (2021). Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots. IEEE/ASME Transactions on Mechatronics, 26(6), 3010-3021. https://doi.org/10.1109/TMECH.2021.3050263

IEEE Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of hyper-redundant and compliant features. They provide universal and efficient solutions to access to constrained environments, e.g., aero-engines and industr... Read More about Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Presentation / Conference Contribution
Fang, Y., Bishop, C., Ba, W., Díez, J. B., Mohammad, A., & Dong, X. (2020, September). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. Presented at Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings, Nottingham, UK

© 2020, Springer Nature Switzerland AG. Continuum robots have been utilized for several light-duty applications, such as minimally invasive surgery in the medical field and inspection in the industry. However, the existing design solutions do not off... Read More about A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems.

Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine (2020)
Journal Article
Wang, M., Dong, X., Ba, W., Mohammad, A., Axinte, D., & Norton, A. (2021). Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine. Robotics and Computer-Integrated Manufacturing, 67, Article 102054. https://doi.org/10.1016/j.rcim.2020.102054

In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircraft. However, navigating in/out via inspecti... Read More about Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine.

Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications (2018)
Journal Article
Mohammad, A. E. K., Hong, J., Wang, D., & Guan, Y. (2019). Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications. Robotics and Computer-Integrated Manufacturing, 55(Part A), 65-75. https://doi.org/10.1016/j.rcim.2018.07.005

In this paper, we present a novel design of a robotic electrochemical mechanical polishing (ECMP) process. Firstly, the process is presented to replace the conventional ECMP process by a robotic-based one. The advantage of using industrial robots lie... Read More about Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications.

Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach (2018)
Journal Article
Mohammad, A. E. K., Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. https://doi.org/10.1016/j.rcim.2017.05.011

In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis... Read More about Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach.

Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm (2017)
Journal Article
Khalick Mohammad, A. E., Hong, J., & Wang, D. (2017). Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm. International Journal of Advanced Manufacturing Technology, 93(1-4), 1463-1471. https://doi.org/10.1007/s00170-017-0524-6

In conventional polishing processes, the polishing parameters are constant along the surface. Hence, if the desired material to be removed from the surface is not equally distributed, an over-polishing may occur for the areas with small material remo... Read More about Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm.

Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems (2017)
Presentation / Conference Contribution
Hong, J., Mohammad, A. E. K., & Wang, D. (2017, February). Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems. Presented at CMRE 2017: 2017 3rd International Conference on Mechatronics and Robotics Engineering, Paris, France

The macro-mini robot polishing system has been widely used in polishing processes where an auxiliary actuator is used to control the polishing force. Generally, in this approach, the auxiliary actuator moves the polishing motor, the polishing spindle... Read More about Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems.