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

Dong, Xin; Palmer, David; Axinte, Dragos; Kell, James

Authors

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Dr XIN DONG XIN.DONG@NOTTINGHAM.AC.UK
Assistant Professor in Engineringdesign For Manufacture

David Palmer

DRAGOS AXINTE dragos.axinte@nottingham.ac.uk
Professor of Manufacturing Engineering

James Kell



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.

Journal Article Type Article
Publication Date 2019-02
Journal Journal of Manufacturing Processes
Print ISSN 1526-6125
Electronic ISSN 1878-6642
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 38
Pages 313-318
APA6 Citation Dong, X., Palmer, D., Axinte, D., & Kell, J. (2019). In-situ repair/maintenance with a continuum robotic machine tool in confined space. Journal of Manufacturing Processes, 38, 313-318. https://doi.org/10.1016/j.jmapro.2019.01.024
DOI https://doi.org/10.1016/j.jmapro.2019.01.024
Keywords Continuum robotic machine tool; Mechanical design; Kinematics; Calibration; Machine trajectory
Publisher URL https://www.sciencedirect.com/science/article/pii/S1526612518313604

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