Issue link: https://htpgraphics.uberflip.com/i/1385717
LEAD RESEARCHER: MINGFENG WANG I received my B.Eng. and M.Eng. degrees from Central South University, China, in 2008 and 2012, respectively, and the Ph.D. degree from the University of Cassino and South Latium, Italy, in 2016. I am currently a Research Fellow at Rolls-Royce University Technology Centre (UTC) on Manufacturing and On-wing Technology of the University of Nottingham, where I work as the leading researcher to develop a reconfigurable parallel kinematic machine tool, i.e. RAIN-Hex in the RAIN Hub. My research interests cover innovative design, modelling and control of multi-modal robotic systems, which includes robotic technologies in terms of mechanical design, kinematic & dynamic analysis, motion planning, motor control, system design & integration, and fabrication and debugging. RAIN-HEX: A RECONFIGURABLE PARALLEL KINEMATIC MACHINE TOOL 62 Fig 1. Concept illustration of the proposed RPKWM: a) overview of the RPKWM; b) moving platform (bottom view) Fig. 2. Demonstration of the RAIN-Hex walking on 10-degree slop with unsymmetrical hexagonal configuration SUMMARY // In-situ repair/maintenance of industrial installations in nuclear environments is an extremely challenging work scenario considering the variety of operations that are required to be performed against the clock. The UTC has a track-record of developing and demonstrating in-situ maintenance hexapods in collaboration with Rolls-Royce. Unlike a conventional Gough-Stewart platform, the feet of the UTC hexapods are not attached to a fixed base, but their layout can be adjusted according to the morphology of the area to be reached or machined. Therefore, the UTC hexapods can self-propel to deliver different end effectors for inspection and repair on the targets in extreme environments (e.g. marine engines and power stations), shortening the shut-down time of the facility and removing human from the hazards. Within the RAIN Hub, a novel reconfigurable walking hexapod, RAIN-Hex, is under development for the in- situ repair and maintenance of industrial installations in the nuclear environment.