Machining with the WalkingHex: A walking parallel kinematic machine tool for in situ operations. Issue 1 (2017)

• Record Type: Journal Article
• Authors: Olarra, A.; Axinte, D.; Uriarte, L.; Bueno, R.
• Is Part Of: CIRP annals. Volume 66:Issue 1(2017)
• Page Start: 361
• Page End: 364
• Publication Date: 2017
• Subjects: Parallel kinematics -- Machine tool -- In situ machining; Production engineering -- Research -- Periodicals; 670.5
• DOI: 10.1016/j.cirp.2017.04.050
• Languages: English
• ISSNs: 0007-8506

Abstract

Abstract: In situ repair/maintenance of industrial installations is challenging working scenario considering the variety of operations that are required to be performed against the clock. The paper reports on a unique walking hexapod (WalkingHex) machine tool which has a set of key abilities: (i) walks autonomously to the place of intervention; (ii) calibrates autonomously and references itself against features on the ground; (iii) performs machining operations. The essential design and theoretical aspects are presented to allow the understanding of main working principles of the WalkingHex while a selected set of experimental trails show its ability to generate accurate features.