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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Vydáno v:Applied sciences Ročník 13; číslo 3; s. 1381
Hlavní autoři: Padrigalan, Kathleen Ebora, Liu, Jui-Hung
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 01.02.2023
Témata:
adhesion
Climbing
Composite materials
driving mechanism
Kinematics
Lightning
locomotion
Robots
Rubber
Sensors
Turbines
Wheels
wind-turbine-tower-climbing robots
winding mechanism
ISSN:2076-3417, 2076-3417
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Shrnutí: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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ISSN:2076-3417
2076-3417
DOI:10.3390/app13031381