IEEE Robotics & Automation Magazine - September 2023 - 99

Rotary Stage
Rubber Wheels
Thread
Linear Stage
Motor Cover
B
Lock
Fixture
C
Twist
D
E
Feed
(a)
Rotary Stage Gearbox
Linear Stage Gearbox
Motors
Inner Channel
Actuation
(b)
(c)
-2,000
-1,500
-1,000
-500
20
40
60
80
100
Time (s)
(f)
200
10
-10
-5
5
100
200
-500
-2,000
-1,500
-1,000
20
40
60
80
50
Time (s)
(g)
100
(d)
10
-10
-5
5
50
100
-1,500
-1,000
-500
-2,000
80
40
60
20
50
100
Time (s)
(h)
150
50
100
(e)
10
-10
-5
5
150
FIGURE 4. The twist-and-feed mechanism design: (a) The system overview, with a thread for robot deployment, a rotary stage to twist the
passive segment around its backbone axis, and a linear stage to translate ( " feed " ) the robot along its backbone axis. (b) An example of
twist-and-feed mechanism deployment. (c) The rotary stage gearbox. (d) The linear stage gearbox, with rubber wheels to push the robot
into, or out of, the inspection environment. (e) The actuation unit with motor and drivers. (f)-(h). The acquired motion and force range for
three borescope operations in aeroengines.
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
99
Distance (mm)
Force (N)
Angle (°)
Distance (mm)
Force (N)
Angle (°)
Distance (mm)
Force (N)
Angle (°)

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
IEEE Robotics & Automation Magazine - September 2023 - Cover2
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