A Wind-Turbine-Tower-Climbing Robot Prototype Operating at Various Speeds and Payload Capacity: Development and Validation
The development of control technology on wind turbine application robots has played an integral role in facilitating the digitization of inspection and maintenance in the wind energy industry. This paper presents a wind-turbine-climbing robot that determines the service lifespan of the wind turbine...
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| Vydané v: | Applied sciences Ročník 13; číslo 3; s. 1381 |
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| Hlavní autori: | , |
| Médium: | Journal Article |
| Jazyk: | English |
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Basel
MDPI AG
01.02.2023
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| ISSN: | 2076-3417, 2076-3417 |
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| Abstract | The development of control technology on wind turbine application robots has played an integral role in facilitating the digitization of inspection and maintenance in the wind energy industry. This paper presents a wind-turbine-climbing robot that determines the service lifespan of the wind turbine components subject to its payload capacity. The model has four rubber wheels, as the driving mechanism for its locomotion is being supported by a Bowden cable as a winding mechanism for its adhesion. The design further incorporates an Arduino microcontroller, distance sensors, motors, and a step motor to form its electromechanical structure. The overall capability of the robot has been analyzed through its kinematics and dynamics. Practical indoor experiments using a wind turbine tower mockup have been conducted for the validation of the various speeds and payload capacity of the prototype. The results indicate the effectiveness of its driving and winding mechanism to climb at the various speeds and with or without a payload. The advantage of the operations of its mechanism conformed with the wind turbine application robots. |
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| AbstractList | The development of control technology on wind turbine application robots has played an integral role in facilitating the digitization of inspection and maintenance in the wind energy industry. This paper presents a wind-turbine-climbing robot that determines the service lifespan of the wind turbine components subject to its payload capacity. The model has four rubber wheels, as the driving mechanism for its locomotion is being supported by a Bowden cable as a winding mechanism for its adhesion. The design further incorporates an Arduino microcontroller, distance sensors, motors, and a step motor to form its electromechanical structure. The overall capability of the robot has been analyzed through its kinematics and dynamics. Practical indoor experiments using a wind turbine tower mockup have been conducted for the validation of the various speeds and payload capacity of the prototype. The results indicate the effectiveness of its driving and winding mechanism to climb at the various speeds and with or without a payload. The advantage of the operations of its mechanism conformed with the wind turbine application robots. |
| Author | Padrigalan, Kathleen Ebora Liu, Jui-Hung |
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| Cites_doi | 10.1016/j.engfailanal.2011.02.012 10.3390/app9132671 10.3390/s20247059 10.1002/we.2773 10.1108/01439910910957075 10.1680/jstbu.17.00167 10.4028/www.scientific.net/AMM.336-338.1180 10.3390/ma15092959 10.1109/ITCE.2019.8646326 10.3390/coatings7020025 10.3390/en13102552 10.1109/TMECH.2016.2574711 10.1007/s12541-010-0075-3 10.22260/ISARC2012/0081 10.1016/j.robot.2013.05.005 10.1002/we.2509 10.1108/IR-08-2019-0154 10.1179/174892407X223902 10.5772/53780 10.1155/2013/760126 |
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| SubjectTerms | adhesion Climbing Composite materials driving mechanism Kinematics Lightning locomotion Robots Rubber Sensors Turbines Wheels wind-turbine-tower-climbing robots winding mechanism |
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