Design and Control of a Crawler-Type Wall-Climbing Robot System for Measuring Paint Film Thickness of Offshore Wind Turbine Tower

Yang, Ping; Zhang, Minglu; Sun, Lingyu; Li, Xinbao

doi:10.1007/s10846-022-01750-w

Cited by 10 publications

(2 citation statements)

References 30 publications

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“… Mobile chassis: The robot is equipped with a crawler‐type mobile chassis, as shown in Figure 2. The crawler structure offers excellent terrain adaptability, enabling the robot to move freely across various types of terrains, including uneven surfaces, narrow passages, and damp environments [5–7]. Furthermore, the crawler provides ample stability [8], allowing the robot to maintain balance during the sampling process, ensuring the successful completion of oil sample collection. Gantry mechanical arm: The oil collection port of the transformer has undergone intelligent upgrading, as shown in Figure 3.…”

Section: Robotic Mechanical Structure Designmentioning

confidence: 99%

Design of an intelligent transformer oil sampling system

Pei,

Sun

2023

Electronics Letters

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In response to the transformer oil sampling requirements within substations, this paper presents the design and development of a highly intelligent transformer oil sampling system. The robot employs a tracked mobile chassis and a gantry robotic arm, offering high mobility stability and operational reliability. The system effectively conducted oil sampling operations in an extra‐high voltage substation, obtaining valuable oil samples that validate the structural and functional reliability of the system, as well as its stability in complex working environments. This research provides a promising solution for transformer maintenance and health monitoring, with the potential to play a significant role in power equipment maintenance.

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Section: Robotic Mechanical Structure Designmentioning

confidence: 99%

Design of an intelligent transformer oil sampling system

Pei,

Sun

2023

Electronics Letters

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“…Various technologies have been employed for underwater adhesion, including magnetic [8][9][10], vacuum [11,12], propeller [13][14][15], and Bernoulli negative pressure adsorption [3,6,16,17]. However, each method has its drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Study on the Adsorption Performance of a Vortex Suction Cup under Varying Diameters of Underwater Structure Tubes

Tang,

Du,

Liu

et al. 2024

JMSE

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In certain precision work scenarios, underwater robots require the ability to adhere to surfaces in order to perform tasks effectively. An efficient and stable suction device plays a pivotal role in the functionality of such underwater robots. The vortex suction cup, distinguished by its uncomplicated design, high suction efficiency, and capability for non-contact adhesion, holds significant promise for integration into underwater robotic systems. This paper presents a novel design for a vortex suction cup and investigates its suction force and torque when encountering surfaces with varying curvature radii using Computational Fluid Dynamics (CFD) simulations and experimental testing. These findings offer valuable insights for the development of robots capable of adapting to underwater structures of different dimensions. Results from both experiments and simulations indicate that reducing the curvature radius of the adhered surface results in a decrease in suction force and an increase in torque exerted on the suction cup. As the adhered surface transitions from flat to a curvature radius of 150 mm, the adhesion force of our proposed vortex suction cup decreases by approximately 10%, while the torque increases by approximately 20% to 30%. Consequently, the adhesion efficiency of the suction cup decreases by about 25% to 30%.

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