MiRoR (Miniaturised Robotic systems for holistic in-situ Repair and maintenance works in restrained and hazardous environments) aims to develop a novel concept of a Miniaturised Robotic Machine (Mini-RoboMach) system that will be demonstrated for holistic in-situ repair and maintenance of large and intricate installations.
This will be done via the following research steps:
1. Develop a novel concept of Mini-RoboMach, with unique complementary miniature systems:
novel “free-leg hexapod” for providing both “walking” and 6-axis processing capability;
an original stiffness-controlled flexible-arm robot for enabling “snaking” and 6-axis light processing ability
The complementarily means that a hybrid configuration of Mini-RoboMach, i.e. “walk & snake-in” can be utilised.
2. Develop MiRoR intelligent controller with the following key abilities:
Self-positioning: enable walk and/or snake navigations to/from work and calibration of end-effectors on required features;
Reasoning: decide on methods of accessing the working area while learning from these experiences
Planning: schedule task successions and optimise Mini-RoboMach path in reference to intervention on different places.
Adaptation: modify the parameters of treatment procedures for developing a self-protection ability of Mini-RoboMach.
3. Develop a unique virtual test bench for the hardware (e.g. Mini-RoboMach) and software (intelligent controller) of MiRoR so that its robustness and capability can be pre-assessed and corrected before its effective utilisation.
4. Demonstrate MiRoR by performing in-situ holistic repair/maintenance works on high investment, large and/or intricate industrial such as (power plants, aero-engines, construction/infrastructure, offshore platforms, etc).
Project full title: Miniaturised Robotic systems for holistic in-situ Repair and maintenance works in restrained and hazardous environments
Grant number: 284959
Project acronym: MiRoR
Type of funding scheme: Collaborative project Small-Medium Scale Focused Research
Work programme topics addressed: FoF.NMP.2011-3, Robots for automation of post-production and other auxiliary processes