Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments

Abstract

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly. One robot (Adder) carries a thermal spray nozzle while the other (Observer) carries cameras and a flame ignitor, supporting the locomotion and operation of the Adder, which was demonstrated on a real aeroengine offering advantages in both operational time and repair costs.