Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments

被引：54

作者：

Dong, Xin ^{[1
]}

Wang, Mingfeng ^{[1
]}

Mohammad, Abdelkhalick ^{[1
]}

Ba, Weiming ^{[1
]}

Russo, Matteo ^{[1
]}

Norton, Andy ^{[2
]}

Kell, James ^{[2
]}

Axinte, Dragos ^{[1
]}

机构：

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

[2] Rolls Royce Plc, Westhampnett 2000, Chichester, England

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2022年 / 27卷 / 05期

基金：

英国工程与自然科学研究理事会;

关键词：

Challenging environment; collaboration; continuum robot;

D O I：

10.1109/TMECH.2021.3138222

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 two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 degrees C) flame for coating repair on aeroengines without the need of their disassembly. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.

引用

页码：4217 / 4220

页数：4

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