MiRoR-Miniaturized Robotic Systems for Holistic In-Situ Repair and Maintenance Works in Restrained and Hazardous Environments

被引：47

作者：

Axinte, Dragos ^{[1
]}

Dong, Xin ^{[1
]}

Palmer, David ^{[1
]}

Rushworth, Adam ^{[2
]}

Guzman, Salvador C. ^{[1
]}

Olarra, Aitor ^{[3
]}

Arizaga, Inigo ^{[3
]}

Gomez-Acedo, Eneko ^{[3
]}

Txoperena, Kristine ^{[3
]}

Pfeiffer, Kai ^{[4
]}

Messmer, Felix ^{[4
]}

Gruhler, Matthias ^{[4
]}

Kell, James ^{[5
]}

机构：

[1] Univ Nottingham, Dept Mech Mat & Mfg Engn, Nottingham NG7 2RD, England

[2] Univ Nottingham, Dept Mech Mat & Mfg Engn, Ningbo 315100, Zhejiang, Peoples R China

[3] IK4 TEKNIKER, Gipuzkoa 20600, Spain

[4] Fraunhofer IPA, D-70569 Stuttgart, Germany

[5] Rolls Royce PLC, Westhampnett 2000, England

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2018年 / 23卷 / 02期

基金：

英国工程与自然科学研究理事会;

关键词：

Continuum robot; in-situ inspection/maintenance; multiaxis manipulation of end-effectors; navigation; robotized machine tool; walking hexapod; MACHINE-TOOL; OPERATIONS;

D O I：

10.1109/TMECH.2018.2800285

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.

引用

页码：978 / 981

页数：4

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