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	Mobile platform for hydraulic turbine blade repair robot
	Gui Zhongcheng ; Chen Qiang ; Sun Zhenguo ; Zhang Wenzeng ; Liu Kang
	2010-05-10 ; 2010-05-10
关键词	Practical Theoretical or Mathematical/ blades industrial robots mobile robots service robots turbines/ hydraulic turbine blade repair robot wall-climbing mobile platform ferro-magnetic adhesive devices differential-driven wheeled locomotion magnetic devices complex curved surface/ C3340 Control of power systems and devices C3390C Mobile robots E2310 Power and plant engineering (mechanical engineering) E2210 Mechanical components E2230 Robot and manipulator mechanics E1550A Robotics
中文摘要	A wall-climbing mobile platform of a robot for repairing hydraulic turbine blade on site is developed. The mobile platform is equipped with ferro-magnetic adhesive devices, and it can work on spatial curved surface. The contradiction between moving mobility and adhesion ability and the problem of self-adaptation to curved face existing during the operation of the mobile platform are analyzed. The scheme of using differential-driven wheeled locomotion with ferro-magnetic adhesive devices is used to solve problems above. The platform adheres to the blade's surface by the force provided by ferro-magnetic devices, and certain gap exists between the magnetic devices and the blade's surface. A mechanism of three revoluting degrees of freedom, connecting the magnetic devices with the platform's chassis, is developed to make the platform self-adaptive to the complex curved surface of the turbine blade. A prototype is manufactured, and experiments prove success of the mobile platform. The payload of the zero-turn-radius mobile platform with excellent maneuverability exceeds 80 kg, and the platform can adapt to complex spatial surfaces automatically, such results satisfy the requirements of hydraulic turbine blade in-situ repair robot.
语种	中文 ; 中文
出版者	Chinese J. Mech. Eng ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/21772]
专题	清华大学
推荐引用方式 GB/T 7714	Gui Zhongcheng,Chen Qiang,Sun Zhenguo,et al. Mobile platform for hydraulic turbine blade repair robot[J],2010, 2010.
APA	Gui Zhongcheng,Chen Qiang,Sun Zhenguo,Zhang Wenzeng,&Liu Kang.(2010).Mobile platform for hydraulic turbine blade repair robot..
MLA	Gui Zhongcheng,et al."Mobile platform for hydraulic turbine blade repair robot".(2010).

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