scholarly journals Analysis of Mechanical Adhesion Climbing Robot Design for Wind Tower Inspection

2021 ◽  
Author(s):  
Shyamal Chandra Mondal ◽  
Patricio l. C. Marquez ◽  
Mohammad Osman Tokhi
Keyword(s):  
Wind Turbine ◽  
Inspection System ◽  
Robot Design ◽  
Potential Hazard ◽  
Climbing Robot ◽  
Mechanical Adhesion ◽  
Inspection Tasks ◽  
Control System Model ◽  
Different Diameters ◽  
Periodic Inspections

Mmaintenance of wind turbine farms is a huge task, with associated significant risks and potential hazard to the safety and wellbeing of people who are responsible for carrying the tower inspection tasks. Periodic inspections are required for wind turbine tower to ensure that the wind turbines are in full working order, with no signs of potential failure. Therefore, the development of an automated wind tower inspection system has been very crucial for the overall performance of the renewable wind power generation industry. In order to determine the life span of the tower, an investigation of robot design is discussed in this paper. It presents how a mechanical spring-loaded climbing robot can be designed and constructed to climb and rotate 360° around the tower. An adjustable circular shape robot is designed that allows the device to fit in different diameters of the wind generator tower. The rotational module is designed to allow the wheels to rotate and be able to go in a circular motion. The design further incorporates a suspension that allows the robot to go through any obstacle. This paper also presents afiniteelement spring stress analysis and Simulink control system model to find the optimal parameters that are required for the wind tower climbing robot.

scholarly journals Design and Development of a Climbing Robot for Wind Turbine Maintenance

2021 ◽  
Vol 11 (5) ◽  
pp. 2328
Author(s):  
Jui-Hung Liu ◽  
Kathleen Padrigalan
Keyword(s):  
Wind Turbine ◽  
Computer Aided Design ◽  
Low Cost ◽  
Weather Conditions ◽  
Prototype Model ◽  
Climbing Robot ◽  
Design And Development ◽  
Stepper Motors ◽  
Inspection Tasks ◽  
Maintenance And Inspection

The evolution of the wind turbine to generate carbon-free renewable energy is rapidly growing. Thus, performing maintenance and inspection tasks in high altitude environments or difficult to access places, and even bad weather conditions, poses a problem for the periodic inspection process of the wind turbine industry. This paper describes the design and development of a scaled-down prototype climbing robot for wind turbine maintenance to perform critical tower operations. Thus, the unique feature of this maintenance robot is the winding mechanism, which uses a tension force to grip on the tower surface without falling to the ground either in static or dynamic situations, with the locomotion to perform a straight up–down motion in a circular truncated cone and the stability to work at significant heights. The robot computer-aided design (CAD) model of the mechanical mechanism, force and structural analysis, and the testing of the prototype model, are addressed in this paper. The key hardware developments that were utilized to build a low-cost, reliable and compact climbing robot are the embedded microprocessors, brushed DC motors, stepper motors and steel rope. This paper concludes with a successful preliminary experiment of a scaled down prototype proving the functionality of the concept. The potential applications for this robot are industrial maintenance, inspection and exploration, security and surveillance, cleaning, painting, and welding at extreme height conditions.

HEX-PIDERIX: A SIX-LEGGED WALKING CLIMBING ROBOT TO PERFORM INSPECTION TASKS ON VERTICAL SURFACES

2013 ◽  
Author(s):  
XOCHITL YAMILE SANDOVAL-CASTRO ◽  
MARIO A. GRACIA-MURILLO ◽  
JONNY PAUL ZAVALA-DE PAZ ◽  
EDUARDO CASTILLO-CASTANEDA
Keyword(s):  
Climbing Robot ◽  
Inspection Tasks

scholarly journals Image-Based Underwater Inspection System for Abrasion of Stilling Basin Slabs of Dam

2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Yonglong Li ◽  
Hua Zhang ◽  
Shuang Wang ◽  
Haoran Wang ◽  
Jialong Li
Keyword(s):  
Field Experiments ◽  
Concrete Surface ◽  
Inspection System ◽  
Underwater Robot ◽  
Stilling Basin ◽  
Underwater Image ◽  
Surface Damages ◽  
Quantitative Analysis Method ◽  
Exposure Ratio ◽  
Periodic Inspections

The abrasion of stilling basin slabs which is caused by waterborne particles is one of the main surface damages in the operation of hydropower station. For determining whether to repair the stilling basin slabs, periodic inspections of erosion condition of stilling basin slabs are required. The practical problem is how to get the underwater image without unwatering and how to analyse the abrasion though the images. This paper developed a novel underwater inspection system named UIS-1 which consists of a customized underwater robot and special quantitative analysis method for this situation. Firstly, the integrated component was designed for the underwater robot that partially removes the siltation and obtains the image of the concrete surface of stilling basin slabs in the desired position. Secondly, the paper proposed an image algorithm to obtain aggregate exposure ratio for quantitative abrasion analysis. This image algorithm used SLIC superpixel and the SVM machine learning method to detect the coarse aggregate exposure automatically. Then, the aggregate exposure ratio was calculated to analyse the degree of abrasion. Finally, the UIS-1 system was evaluated in the field experiments of a dam in Sichuan, China, and its performance was discussed by comparison.

scholarly journals Brush-Holder Integrated Load Sensor Prototype for SAG Grinding Mill Motor

Electronics ◽  
2019 ◽  
Vol 8 (11) ◽  
pp. 1227 ◽  
Author(s):  
Carrasco ◽  
Álvarez ◽  
Velázquez ◽  
Concha ◽  
Pérez-Cotapos
Keyword(s):  
Measurement Errors ◽  
Large Scale ◽  
Mining Industry ◽  
Data Entry ◽  
Inspection Time ◽  
Inspection System ◽  
Design Development ◽  
Internal Parameters ◽  
Inspection Tasks ◽  
Grinding Mill

One of the most widely used electro-mechanical systems in large-scale mining is the electric motor. This device is employed in practically every phase of production. For this reason, it needs to be inspected regularly to maintain maximum operability, thus avoiding unplanned stoppages. In order to identify potential faults, regular check-ups are performed to measure the internal parameters of the components, especially the brushes and brush-holders. Both components must be properly aligned and calibrated to avoid electric arcs to the internal insulation of the motor. Although there is an increasing effort to improve inspection tasks, most inspection procedures are manual, leading to unnecessary costs in inspection time, errors in data entry, and, in extreme cases, measurement errors. This research presents the design, development, and assessment of an integrated measurement prototype for measuring spring tension and other key parameters in brush-holders used in electric motors. It aims to provide the mining industry with a new, fully automatic inspection system that will facilitate maintenance and checking. Our development research was carried out specifically on the brush system of a SAG grinding mill motor. These machines commonly use SIEMENS motors; however, the instrument can be easily adapted to any motor by simply changing the physical dimensions of the prototype.

Fatigue Analysis for Mooring System of a Spar-Type Floating Offshore Wind Turbine

2020 ◽  
Author(s):  
Xutian Xue ◽  
Xiaoyong Liu ◽  
Nian-Zhong Chen ◽  
Xifeng Gao
Keyword(s):  
Wind Turbine ◽  
Fatigue Analysis ◽  
Offshore Wind ◽  
Offshore Wind Turbine ◽  
Safety Factors ◽  
Mooring Lines ◽  
Hydrodynamic Analysis ◽  
Floating Offshore Wind Turbine ◽  
Different Diameters ◽  
Rainflow Counting

Abstract This paper aims to perform a time-domain mooring fatigue analysis for a Spar-type floating offshore wind turbine operated in the South China Sea. Tension ranges of mooring lines are achieved from a hydrodynamic analysis where the effects of wind, wave and current are considered. A rainflow counting method is used to calculate the number of mooring tension cycles with corresponding ranges. The fatigue lives of mooring lines are then predicted by Palmgren-Miner’s rule according to T-N & S-N curves. A comparison of fatigue lives predicted by T-N & S-N curves-based approaches with/without considering safety factors is made. The results show that the T-N curves-based approach is more conservative than the S-N curves-based approach if safety factors are not considered in the two approaches, while the fatigue lives predicted by both approaches are in general comparable when the safety factors suggested by API and DNVGL are applied in the two approaches. A comparative study of three kinds of R4 grade studless mooring chains with different diameters (2.5-inch, 4-inch, 5-inch) is also conducted and the results show that the design with the 2.5-inch chain does not meet the fatigue requirements.

A novel exterior climbing robot design for space station

2013 ◽  
Author(s):  
Chengjiang Wang ◽  
Yongquan Chen ◽  
Meng Chen ◽  
Liangliang Han ◽  
Huihuan Qian ◽  
...  
Keyword(s):  
Space Station ◽  
Robot Design ◽  
Climbing Robot

Measurement of Trust in Humans in Hybrid Inspection for Different Levels of Error Randomness

2002 ◽  
Vol 46 (23) ◽  
pp. 1920-1924
Author(s):  
Neville Z. Ginwalla ◽  
Sittichai Kaewkuekool ◽  
Shannon R. Bowling ◽  
Anand K. Gramopadhye ◽  
Brian J. Melloy
Keyword(s):  
Experimental Designs ◽  
Inspection System ◽  
Four Levels ◽  
Inspection Tasks ◽  
Different Levels

The focus of this research is on the effect of human trust in a hybrid inspection system with different levels of error randomness. The experimental designs were developed to conduct inspection tasks with four levels of error randomness, and subjects were requested to rate their trust at different levels in the system. Each randomness level comprised of stages, and human trust variation for each stage was observed. These levels were administered through the use of a hybrid inspection simulator. Analysis of the results revealed that human trust in the hybrid inspection system is sensitive to error randomness.

STUDY OF ANT LOCOMOTION IN SURFACE TRANSITIONS FOR CLIMBING ROBOT DESIGN

2011 ◽  
Author(s):  
AUSTIN LOZANO ◽  
GREGORY PETERS ◽  
DIKAI LIU ◽  
KENNETH WALDRON
Keyword(s):  
Robot Design ◽  
Climbing Robot

scholarly journals Investigation of the Solidity Ratio in a Horizontal Wind Turbine

2021 ◽  
Vol 1 (2) ◽  
Author(s):  
Süleyman Tekşin ◽  
Mert Kurt
Keyword(s):  
Wind Speed ◽  
Wind Turbine ◽  
Horizontal Wind ◽  
Speed Ratio ◽  
Horizontal Axis Wind Turbine ◽  
Generator System ◽  
Wind Speeds ◽  
Solidity Ratio ◽  
Different Diameters ◽  
Work Done

A wind turbine-generator system; Parameters such as wind speed, turbine blade diameter, number of blades, turbine height, tip speed ratio and solidity ratio are affected. In this study, horizontal axis wind turbine with diameter of 130 cm and blade solidity ratio values of 7%, 8,6% and 9,8% were constructed and the tests were made according to different blade speed ratios. The required blades were obtained from PVC pipes of different diameters. The experimental study was actualized in Erciyes University Mechanical Engineering, Engines Laboratory. For each profile, blade rotational speeds and wind speeds at various distances have been studied. It has been determined that the wind speed is reduced by the distance difference and accordingly the number of blade speed is decreased visibly. In the wing profiles with different blade solidity ratios resulting from the work done, the wing structure with the solidity ratio of 8.6% gave the best performance. CL and CD coefficients of the profiled specimens were analyzed by FLUENTTM, a program of computational fluid dynamics. One of the factors that should be taken into consideration in the production of wind turbines is the blade solidity ratio.

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