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All Outputs (28)

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). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. In Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings (15-24). https://doi.org/10.1007/978-3-030-63486-5_2

© 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.

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.

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.