Research Repository

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Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach (2018)
Conference Proceeding
Habibi, H., Yang, C., Kang, R., Walker, I. D., Godage, I. S., Dong, X., & Branson, D. T. (2018). Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach

Precise actuation of continuum surfaces in combination with continuum robotic arms that undergo large deformation is of high interest in soft robotics but of limited model-based study to date. This work develops this area towards enabling the robust... Read More

Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading (2018)
Journal Article
Isaia, C., McNally, D. S., McMaster, S. A., & Branson, D. T. (in press). Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading. Textile Research Journal, doi:10.1177/0040517517748496. ISSN 0040-5175

This paper presents, for the first time, the electrical response of knitted conductive fabrics to a considerable number of cycles of deformation in view of their use as wearable sensors. The changes in the electrical properties of four knitted conduc... Read More

Model-free control for continuum robots based on an adaptive Kalman filter (2017)
Journal Article
Li, M., Kang, R., Branson, D. T., & Dai, J. S. (2018). Model-free control for continuum robots based on an adaptive Kalman filter. IEEE/ASME Transactions on Mechatronics, 23(1), doi:10.1109/TMECH.2017.2775663. ISSN 1083-4435

Continuum robots with structural compliance have promising potential to operate in unstructured environments. However, this structural compliance brings challenges to the controller design due to the existence of considerable uncertainties in the rob... Read More

Workspace analysis of tendon-driven continuum robots based on mechanical interference identification (2017)
Journal Article
Cao, K., Kang, R., Branson, D., Geng, S., Song, Z., & Dai, J. S. (2017). Workspace analysis of tendon-driven continuum robots based on mechanical interference identification. Journal of Mechanical Design, 139(6), doi:10.1115/1.4036395

Continuum robots have excited increasing attention and efforts from the robotic community due to their high dexterity and safety. This paper proposes a design for a type of multimodule continuum robot equipped with an elastic backbone structure and t... Read More

Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming (2017)
Journal Article
Maiolino, P., Woolley, R., Branson, D. T., Benardos, P., Popov, A. A., & Ratchev, S. (in press). Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming. Robotics and Computer-Integrated Manufacturing, 48, doi:10.1016/j.rcim.2017.04.004. ISSN 0736-5845

In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to... Read More

Design of a pneumatic muscle based continuum robot with embedded tendons (2016)
Journal Article
Kang, R., Guo, Y., Chen, L., Branson, D. T., & Dai, J. S. (in press). Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Transactions on Mechatronics, doi:10.1109/TMECH.2016.2636199. ISSN 1083-4435

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to... Read More

Development of in-situ monitoring systems for the thermoforming of pre-preg composite laminates (2016)
Conference Proceeding
Land, P., Branson, D. T., Crossley, R. J., & Ratchev, S. (2016). Development of in-situ monitoring systems for the thermoforming of pre-preg composite laminates

Recent developments in automated composite manufacturing technologies, such as Automated Fibre Placement, AFP, and Automated Tape Layup, ATL, have enabled larger components to be produced efficiently, leading to an increased use of prepreg composites... Read More

Variation aware assembly systems for aircraft wings (2016)
Conference Proceeding
Vaughan, D. R., Bakker, O. J., Branson, D. T., & Ratchev, S. (2016). Variation aware assembly systems for aircraft wings. In SAE Technical Paper Seriesdoi:10.4271/2016-01-2106

Aircraft manufacturers desire to increase production to keep up with anticipated demand. To achieve this, the aerospace industry requires a significant increase in the manufacturing and assembly performance to reach required output levels. This work... Read More

Evaluation of control methods for thermal roll forming of aerospace composite materials (2016)
Journal Article
Land, P., De Sousa, L., Ratchev, S., Branson, D. T., Brookes, H., & Wright, J. (2016). Evaluation of control methods for thermal roll forming of aerospace composite materials. SAE International Journal of Aerospace, 9(2), doi:10.4271/2016-01-2118. ISSN 1946-3901

With increased demand for composite materials in the aerospace sector there is a requirement for the development of manufacturing processes that enable larger and more complex geometries, whilst ensuring that the functionality and specific properties... Read More

Technology review of thermal forming techniques for use in composite component manufacture (2015)
Journal Article
Land, P., Crossley, R., Branson, D. T., & Ratchev, S. (2016). Technology review of thermal forming techniques for use in composite component manufacture. SAE International Journal of Aerospace, 9(1), doi:10.4271/2015-01-2610. ISSN 1946-3901

There is a growing demand for composites to be utilised in the production of large-scale components within the aerospace industry. In particular the demand to increase production rates indicates that traditional manual methods are no longer sufficien... Read More

Dynamics for variable length multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2016). Dynamics for variable length multisection continuum arms. International Journal of Robotics Research, 35(6), doi:10.1177/0278364915596450. ISSN 0278-3649

Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible ba... Read More

Modal kinematics for multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2015). Modal kinematics for multisection continuum arms. Bioinspiration and Biomimetics, 10(3), doi:10.1088/1748-3190/10/3/035002

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and no... Read More