A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator
| Autor: | Patrick Cönen, Shengzhi Du, Heiko Engemann, Harshal Dawar, Stephan Kallweit |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Technology
Turbine blade Computer science QH301-705.5 QC1-999 mobile manipulation Workspace Turbine flexible production law.invention law General Materials Science Motion planning Biology (General) Instrumentation surface-orthogonal path planning QD1-999 Fluid Flow and Transfer Processes Wind power large-scale inspection Mobile manipulator business.industry Rotor (electric) Process Chemistry and Technology Physics General Engineering Control engineering intelligent robot Engineering (General). Civil engineering (General) Computer Science Applications wind turbine production Chemistry Robot TA1-2040 business autonomous navigation |
| Zdroj: | Applied Sciences, Vol 11, Iss 9271, p 9271 (2021) Applied Sciences Volume 11 Issue 19 |
| ISSN: | 2076-3417 |
| Popis: | Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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