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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


David Palmer

Professor of Manufacturing Engineering

James Kell


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.


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.

Journal Article Type Article
Acceptance Date Jan 16, 2019
Online Publication Date Jan 24, 2019
Publication Date 2019-02
Deposit Date Mar 19, 2019
Publicly Available Date Mar 19, 2019
Journal Journal of Manufacturing Processes
Print ISSN 1526-6125
Electronic ISSN 1878-6642
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 38
Pages 313-318
Keywords Continuum robotic machine tool; Mechanical design; Kinematics; Calibration; Machine trajectory
Public URL
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