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

Dong, Xin; Wang, Mingfeng; Mohammad, Abd El Khalick; Ba, Weiming; Russo, Matteo; Norton, Andy; Kell, James; Axinte, Dragos

Abstract

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. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.

Citation

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

• Journal Article Type: Article
• Acceptance Date: Oct 22, 2021
• Online Publication Date: Jan 19, 2022
• Publication Date: Jan 19, 2022
• Deposit Date: Apr 26, 2023
• 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: 27
• Issue: 5
• Pages: 4217-4220
• DOI: https://doi.org/10.1109/TMECH.2021.3138222
• Keywords: Electrical and Electronic Engineering; Computer Science Applications; Control and Systems Engineering
• Public URL: https://nottingham-repository.worktribe.com/output/7378747
• Publisher URL: https://ieeexplore.ieee.org/document/9686369