Paper Info
Title
Design and Control of a Crawler-Type Wall-Climbing Robot System for Measuring Paint Film Thickness of Offshore Wind Turbine Tower
Abstract
In the process of detecting the paint film thickness of offshore wind turbine towers, there are problems such as the risk of high-altitude and the changeable working environments, which pose a great threat to the safety of operators. In response to the above problems, a crawler-type climbing-robot system for measuring paint film thickness of offshore wind turbine towers is developed. Firstly, the robot structure is designed by adopting modular design idea. Secondly, the kinematics analysis of the robot's facade steering is carried out, and the kinematics model of the robot's instantaneous steering is established. On this basis, considering the influence of hydrodynamic force and track deformation, a dynamic model of multi-track coordinated motion is established. Then, the kinematics and dynamics of the robot are simulated and calculated by Matlab. The robot control system is designed according to the requirements of multi-module cooperative operation. Finally, a robot prototype is developed based on the theory and simulation, and the robot is verified through the experimental platform and the offshore wind power field experiment.
Year
DOI
Venue
2022
10.1007/s10846-022-01750-w
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Keywords
DocType
Volume
Offshore wind turbine tower, Paint film thickness measurement, Crawler-type wall-climbing robot, Kinematics modeling, Underwater dynamics modeling, Robot system design
Journal
106
Issue
ISSN
Citations 
2
0921-0296
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Pei Yang100.34
Minglu Zhang22715.35
Lingyu Sun3166.09
Xinbao Li400.34