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All Outputs (42)

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., & Kell, J. (2021). An efficient follow-the-leader strategy for continuum robot navigation and coiling. IEEE Robotics and Automation Letters, 6(4), 7493 - 7500. https://doi.org/10.1109/LRA.2021.3097265

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to... Read More about An efficient follow-the-leader strategy for continuum robot navigation and coiling.

Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots (2021)
Journal Article
Ba, W., Dong, X., Mohammad, A., Wang, M., Axinte, D., & Norton, A. (2021). Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots. IEEE/ASME Transactions on Mechatronics, 26(6), 3010-3021. https://doi.org/10.1109/TMECH.2021.3050263

IEEE Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of hyper-redundant and compliant features. They provide universal and efficient solutions to access to constrained environments, e.g., aero-engines and industr... Read More about Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots.

Real-Time Kinematics of Continuum Robots: Modelling and Validation (2021)
Journal Article
Barrientos-Diez, J., Dong, X., Axinte, D., & Kell, J. (2021). Real-Time Kinematics of Continuum Robots: Modelling and Validation. Robotics and Computer-Integrated Manufacturing, 67, Article 102019. https://doi.org/10.1016/j.rcim.2020.102019

© 2020 Elsevier Ltd Kinematics of flexible backbone continuum robots is highly non linear and its complexity quickly escalates with the number of sections of the robot, which is usually more than three. This paper introduces a kinematic modelling of... Read More about Real-Time Kinematics of Continuum Robots: Modelling and Validation.

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 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.

Parametric vibration analysis and validation for a novel portable hexapod machine tool attached to surfaces with unequal stiffness (2019)
Journal Article
Ma, N., Dong, X., Palmer, D., Arreguin, J. C., Liao, Z., Wang, M., & Axinte, D. (2019). Parametric vibration analysis and validation for a novel portable hexapod machine tool attached to surfaces with unequal stiffness. Journal of Manufacturing Processes, 47, 192-201. https://doi.org/10.1016/j.jmapro.2019.10.003

© 2019 The Free-Leg Hexapod (Free-Hex) machine tool is an advancement from the conventional Stewart platform, which has the fixed base platform removed to enable the limbs to be attached to a wider range of surfaces (e.g. non-flat and curved). Howeve... Read More about Parametric vibration analysis and validation for a novel portable hexapod machine tool attached to surfaces with unequal stiffness.

Teleoperated, In Situ Repair of an Aeroengine: Overcoming the Internet Latency Hurdle (2019)
Journal Article
Alatorre, D., Nasser, B., Rabani, A., Nagy-Sochacki, A., Dong, X., Axinte, D., & Kell, J. (2019). Teleoperated, In Situ Repair of an Aeroengine: Overcoming the Internet Latency Hurdle. IEEE Robotics and Automation Magazine, 26(1), 10-20. https://doi.org/10.1109/MRA.2018.2881977

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
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. https://doi.org/10.1016/j.jmapro.2019.01.024

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 stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism (2018)
Journal Article
Ma, N., Yu, J., Dong, X., & Axinte, D. (2018). Design and stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism. Mechanism and Machine Theory, 129, 202-217. https://doi.org/10.1016/j.mechmachtheory.2018.07.023

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.

MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and maintenance works in restrained and hazardous environments (2018)
Journal Article
Axinte, D., Dong, X., Palmer, D., Rushworth, A., Guzman, S. C., Olarra, A., …Kell, J. (2018). MiRoR—Miniaturized Robotic Systems for Holistic In-Situ Repair and maintenance works in restrained and hazardous environments. IEEE/ASME Transactions on Mechatronics, 23(2), 978-981. https://doi.org/10.1109/tmech.2018.2800285

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
Dong, X., Axinte, D. A., Palmer, D., Cobos, S., Raffles, M., Rabani, A., & Kell, J. (in press). Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines. Robotics and Computer-Integrated Manufacturing, 44, https://doi.org/10.1016/j.rcim.2016.09.004

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
Dong, X., Raffles, M., Cobos-Guzman, S., Axinte, D., & Kell, J. (2016). A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation. Journal of Mechanisms and Robotics, 8(2), Article 021010. https://doi.org/10.1115/1.4031340

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 Development of a Slender Dual-Structure Continuum Robot for In-Situ Aeroengine Repair
Presentation / Conference Contribution
Wang, M., Palmer, D., Dong, X., Alatorre, D., Axinte, D., & Norton, A. (2018, October). Design and Development of a Slender Dual-Structure Continuum Robot for In-Situ Aeroengine Repair. Presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain

© 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.

Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach
Presentation / Conference Contribution
Habibi, H., Yang, C., Kang, R., Walker, I. D., Godage, I. S., Dong, X., & Branson, D. T. (2018, October). Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach. Presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain

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.

Robotic Boreblending: The Future of In-Situ Gas Turbine Repair
Presentation / Conference Contribution
Alatorre, D., Nasser, B., Rabani, A., Nagy-Sochacki, A., Dong, X., Axinte, D., & Kell, J. (2018, October). Robotic Boreblending: The Future of In-Situ Gas Turbine Repair. Presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain

© 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.