MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and maintenance works in restrained and hazardous environments

Axinte, Dragos; Dong, Xin; Palmer, David; Rushworth, Adam; Guzman, Salvador C.; Olarra, Aitor; Arizaga, Inigo; Gomez-Acedo, Eneko; Txoperena, Kristine; Pfeiffer, Kai; Messmer, Felix; Gruhler, Matthias; Kell, James

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.

Citation

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

• Journal Article Type: Article
• Acceptance Date: Jan 2, 2018
• Online Publication Date: Jan 31, 2018
• Publication Date: Apr 16, 2018
• Deposit Date: Dec 7, 2018
• Journal: IEEE/ASME Transactions on Mechatronics
• Print ISSN: 1083-4435
• Electronic ISSN: 1941-014X
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 23
• Issue: 2
• Pages: 978-981
• DOI: https://doi.org/10.1109/tmech.2018.2800285
• Public URL: https://nottingham-repository.worktribe.com/output/1388261