Abstract
This letter presents the novel concept of a miniaturized robotized machine tool, Mini-RoboMach, consisting of a walking hexapod robot and a Slender Continuum Arm. By combining the mobility of the walking robot with the positioning accuracy of the machine tool, with its 24 + 25 degrees of freedom, camera-based calibration system, laser scanner, and two end-effectors of opposed orientations, the proposed system can provide a versatile tool for in-situ work (e.g., repair) in hazardous/unreachable locations in large installations.
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