All Outputs (30)

Teleoperated, In Situ Repair of an Aeroengine: Overcoming the Internet Latency Hurdle (2019)
Journal Article

There is a substantial financial incentive for in situ repair of industrial assets. However, the need for highly trained mechanics to travel to the location of a repair often results in inconveniently long downtimes. The emergence of robots capable o... Read More about Teleoperated, In Situ Repair of an Aeroengine: Overcoming the Internet Latency Hurdle.

In-situ repair/maintenance with a continuum robotic machine tool in confined space (2019)
Journal Article

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 machini... Read More about In-situ repair/maintenance with a continuum robotic machine tool in confined space.

Design and Development of a Slender Dual-Structure Continuum Robot for In-Situ Aeroengine Repair (2018)
Journal Article

© 2018 IEEE. In-situ aeroengine maintenance works (e.g. inspection, repair) are highly beneficial as it can significantly reduce currently accepted maintenance cycle which is extensive and costly due to the need to remove engines from the wing of an... Read More about Design and Development of a Slender Dual-Structure Continuum Robot for In-Situ Aeroengine Repair.

Robotic Boreblending: The Future of In-Situ Gas Turbine Repair (2018)
Conference Proceeding

© 2018 IEEE. Automation of inspection and repair tasks on complex installations is gaining attention from industries with high-value assets such as aerospace, nuclear and marine. This paper reports on a five degrees of freedom robotic system capable... Read More about Robotic Boreblending: The Future of In-Situ Gas Turbine Repair.

Design and stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism (2018)
Journal Article

2-DoF Rotational mechanism is increasingly utilized in a large range of industrial applications. However, the structures of most of the existing mechanisms are very complex, which is a significant challenge for building them, due to the tight tolera... Read More about Design and stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism.

Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach (2018)
Conference Proceeding

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 about Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach.

MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and maintenance works in restrained and hazardous environments (2018)
Journal Article

This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the mac... Read More about MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and maintenance works in restrained and hazardous environments.

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines (2016)
Journal Article

The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry commonly o... Read More about Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines.

A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation (2015)
Journal Article

A twisting problem is identified from the central located flexible backbone continuum robot. Regarding this problem, a design solution is required to mechanically minimize this twisting angle along the backbone. Further, the error caused by the kinem... Read More about A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation.

Design and analysis of a family of snake arm robots connected by compliant joints (2014)
Journal Article