☆ 4.7 Article

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

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022)

Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots

Weiming Ba et al.

Summary: Continuum robots (CRs) surpass conventional rigid-link manipulators in hyper-redundancy and compliance, providing universal and efficient solutions for accessing constrained environments. This article introduces a slender tendon-driven CR for in situ maintenance of aero engine combustors. By utilizing a novel local model-less controller inspired by a fuzzy logic algorithm, the challenges of piecewise-constant-curvature assumption mismatch and sections coupling issues are effectively addressed.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

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Article Computer Science, Interdisciplinary Applications

Design, modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine

Mingfeng Wang et al.

Summary: The novel extra-slender dual-stage continuum robot is proposed for in-situ aeroengine maintenance to navigate in and out confined environments. Innovative mechatronic solutions along with kinematic and static models based on curvature theory and elastic rod theory were established to evaluate the robot capabilities of performing predefined shape and stiffness in constrained environments.

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING (2021)

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Article Robotics