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Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility (2020)
Journal Article
Russo, M., Raimondi, L., Dong, X., Axinte, D., & Kell, J. (2021). Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility. Robotics and Computer-Integrated Manufacturing, 69, Article 102096. https://doi.org/10.1016/j.rcim.2020.102096

© 2020 In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. with less than 6 degrees-of-freedom (“DoF”), with a prescribed set of tasks in a constrained environment. Sin... Read More about Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Presentation / Conference Contribution
Fang, Y., Bishop, C., Ba, W., Díez, J. B., Mohammad, A., & Dong, X. (2020, September). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. Presented at Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings, Nottingham, UK

© 2020, Springer Nature Switzerland AG. Continuum robots have been utilized for several light-duty applications, such as minimally invasive surgery in the medical field and inspection in the industry. However, the existing design solutions do not off... Read More about A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems.

A novel class of reconfigurable parallel kinematic manipulators: Concepts and Fourier-based singularity analysis (2020)
Journal Article
Camacho-Arreguin, J., Wang, M., Dong, X., & Axinte, D. (2020). A novel class of reconfigurable parallel kinematic manipulators: Concepts and Fourier-based singularity analysis. Mechanism and Machine Theory, 153, Article 103993. https://doi.org/10.1016/j.mechmachtheory.2020.103993

© 2020 Elsevier Ltd In-situ interventions in complex environments require new concepts of Parallel Kinematic Manipulators (PKMs) that present higher versatility for adapting to unstructured working environments without affecting their advantageous ch... Read More about A novel class of reconfigurable parallel kinematic manipulators: Concepts and Fourier-based singularity analysis.

Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine (2020)
Journal Article
Wang, M., Dong, X., Ba, W., Mohammad, A., Axinte, D., & Norton, A. (2021). Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine. Robotics and Computer-Integrated Manufacturing, 67, Article 102054. https://doi.org/10.1016/j.rcim.2020.102054

In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircraft. However, navigating in/out via inspecti... Read More about Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine.

A calibration procedure for reconfigurable Gough-Stewart manipulators (2020)
Journal Article
Russo, M., & Dong, X. (2020). A calibration procedure for reconfigurable Gough-Stewart manipulators. Mechanism and Machine Theory, 152, Article 103920. https://doi.org/10.1016/j.mechmachtheory.2020.103920

© 2020 This paper introduces a calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator. By using the proposed method, the geometry of a general Gough-Stewart platform can be ev... Read More about A calibration procedure for reconfigurable Gough-Stewart manipulators.

Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator (2020)
Journal Article
Ma, N., Dong, X., & Axinte, D. (2020). Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator. IEEE/ASME Transactions on Mechatronics, 25(3), 1409-1421. https://doi.org/10.1109/TMECH.2020.2976140

© 1996-2012 IEEE. Parallel kinematic manipulators (PKMs) are increasingly used in a wide range of industrial applications due to the characteristics of high accuracy and compact structure. However, most of the existing PKMs are structured with heavy... Read More about Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator.