| Mobile platform for hydraulic turbine blade repair robot | |
| Zhongcheng Gui ; Qiang Chen ; Zhenguo Sun ; Wenzeng Zhang ; Kang Liu | |
| 2010-10-12 ; 2010-10-12 | |
| 关键词 | Practical/ adhesives blades hydraulic turbines maintenance engineering mobile robots robot dynamics/ wall-climbing mobile platform hydraulic turbine blade repair robot ferromagnetic adhesive devices load-bearing ability differential-driven wheeled locomotion/ C3390C Mobile robots C3340D Control of hydraulic systems E2230 Robot and manipulator mechanics E2210 Mechanical components E1020 Maintenance and reliability |
| 中文摘要 | The wall-climbing mobile platform (MP) of a robot for repairing a hydraulic turbine blade onsite is developed. The MP is equipped with ferromagnetic adhesive devices and can work on a spatial curved surface. The contradiction between mobility and load-bearing ability is analyzed, and the problem of self-adaptation to the curved face is solved using differential-driven wheeled locomotion with ferromagnetic adhesive devices. The platform adheres to the blade surface through the force provided by the ferromagnetic devices, and a certain gap exists between the magnetic devices and the blade's surface. A mechanism of three revolution degrees of freedom, which connects the magnetic devices with the platform's chassis, is developed to make the platform self-adapt to the complex curved surface of the turbine blade. A proof- of-principle prototype has been manufactured, and experiments prove the success of the MP. The payload of the zero-turn-radius MP with excellent maneuverability exceeds 80 kg. The platform can automatically adapt to complex spatial surfaces, which satisfy the requirements of a hydraulic turbine blade in-situ repair robot. |
| 语种 | 英语 |
| 出版者 | Springer ; China |
| 内容类型 | 期刊论文 |
| 源URL | [http://hdl.handle.net/123456789/80601]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Zhongcheng Gui,Qiang Chen,Zhenguo Sun,et al. Mobile platform for hydraulic turbine blade repair robot[J],2010, 2010. |
| APA | Zhongcheng Gui,Qiang Chen,Zhenguo Sun,Wenzeng Zhang,&Kang Liu.(2010).Mobile platform for hydraulic turbine blade repair robot.. |
| MLA | Zhongcheng Gui,et al."Mobile platform for hydraulic turbine blade repair robot".(2010). |
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