Author
Mingfeng Wang
Other affiliations: University of Cassino, Central South University
Bio: Mingfeng Wang is an academic researcher from University of Nottingham. The author has contributed to research in topics: Leg mechanism & Parallel manipulator. The author has an hindex of 8, co-authored 22 publications receiving 165 citations. Previous affiliations of Mingfeng Wang include University of Cassino & Central South University.
Papers
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TL;DR: In this article, a novel extra-slender (diameter-to-length ratio) engine was proposed for in-situ aeroengine maintenance works, which can significantly reduce the current maintenance cycle which is extensive and costly.
Abstract: 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 inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) is fairly challenging. A novel extra-slender (diameter-to-length ratio
48 citations
29 Jun 2018
TL;DR: This paper presents the design and development of a highly slender dual-structure continuum robot with 16 degrees of freedom (DoFs) to provide the feeding motion needed to navigate into confined environments and then perform a required configuration shape for further repair operation.
Abstract: 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 aircraft. However, feeding in/out via inspection ports and performing a multi-axis movement of an end-effector in a very constrained environment such as aeroengine combustion chamber is a fairly challenging task. This paper presents the design and development of a highly slender (i.e., low diameter-to-length ratio) dual-structure continuum robot with 16 degrees of freedom (DoFs) to provide the feeding motion needed to navigate into confined environments and then perform a required configuration shape for further repair operation. This continuum robot is a compact system and presents a set of innovative mechatronic solutions such as: (i) two-stage tendon-driven structure with bevelled disk design to perform required configuration shape and to provide selective stiffness for the ability of taking high payloads; (ii) various compliant joints to enable different flexibility requirement in each stage; (iii) three commanding cables for each 2- DoF section to minimise the number of actuators with a precise actuation. To be able to achieve the desired configuration shape, a kinematic model has been established and the configuration-cable kinematics has been implemented. Finally, the continuum robot has been built and tested for performing the predefined configuration shape.
38 citations
Posted Content•
TL;DR: A novel extra-slender dual-stage continuum robot (16 degree-of-freedom) is proposed to navigate in/out confined environments and perform required configuration shapes for further repair operations and to evaluate the robot capabilities of performing the predefined shape and stiffness.
Abstract: 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 aircrafts. However, navigating in/out via inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) are fairly challenging. A novel extra-slender (diameter-to-length ratio <0.02) dual-stage continuum robot (16 degree-of-freedom) is proposed to navigate in/out confined environments and perform required configuration shapes for further repair operations. Firstly, the robot design presents several innovative mechatronic solutions: (i) dual-stage tendon-driven structure with bevelled disks to perform required shapes and to provide selective stiffness for carrying high payloads; (ii) various rigid-compliant combined joints to enable different flexibility and stiffness in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with precise actuations. Secondly, a segment-scaled piecewise-constant-curvature-theory based kinematic model and a Kirchhoff-elastic-rod-theory based static model are established by considering the applied forces/moments (friction, actuation, gravity and external load), where the friction coefficient is modelled as a function of bending angle. Finally, experiments were carried out to validate the proposed static modelling and to evaluate the robot capabilities of performing the predefined shape and stiffness.
35 citations
01 Jan 2016
TL;DR: 3D printing is presented as useful means for checking design feasibility of mechanism structures for robots and a procedure is outlined for rapid prototyping that can produce scaled prototypes for experimental validation since early stages of robot developments.
Abstract: In this paper, 3D printing is presented as useful means for checking design feasibility of mechanism structures for robots. A procedure is outlined for rapid prototyping that can produce scaled prototypes for experimental validation since early stages of robot developments. An example from LARM activities shows the soundness and practical implementation of the proposed method.
34 citations
18 Sep 2009
TL;DR: In this paper, a passive heave compensation system with accumulators is proposed according to the requirements of a 6000m deep sea poly-metallic mining system, the principle of the heave compensated system is described, the main parameters of the system are calculated, a corresponding mathematical model of this system is built.
Abstract: A passive heave compensation system with accumulators is proposed according to the requirements of 6000m deep sea poly-metallic mining system. The principle of the heave compensation system is described, the main parameters of the system are calculated, a corresponding mathematical model of this system is built. The parameters which affect the performance of the system are simulated and analyzed by MATLAB. The simulation study of the passive heave compensation system is conducted. The results show that the satisfactory control effectiveness can be obtained under sea condition 4. The compensation rate of the system is higher than 80% under the influence of random wave. The results of modeling and simulation research offer theoretical basis and technical reference for the development of passive heave compensation system.
28 citations
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TL;DR: A comprehensive review of vertical heave motion compensation systems used on ocean vessels from the early 1970s up to, and including, modern systems is provided in this paper, with detailed explanations of the most common motion actuation methods, control schemes, and motion decoupling potential found with each.
114 citations
TL;DR: Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies, and identifies the uniqueness and novelty of robots that have hitherto not been publicly disclosed.
Abstract: This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.
64 citations
TL;DR: In this article, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes, which is characterized by the convergence of the three chains to a single point of the moving platform.
63 citations
TL;DR: In this article, a novel extra-slender (diameter-to-length ratio) engine was proposed for in-situ aeroengine maintenance works, which can significantly reduce the current maintenance cycle which is extensive and costly.
Abstract: 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 inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) is fairly challenging. A novel extra-slender (diameter-to-length ratio
48 citations
48 citations