Climbing ring robot for inspection of offshore wind turbines
Book chapter
Rodriguez, HL, Bridge, B and Sattar, TP (2008). Climbing ring robot for inspection of offshore wind turbines. in: Marques, L, de Almeida, A, Tokhi, MO and Virk, GS (ed.) Advances in Mobile Robotics World Scientific Publishing Co. pp. 555-562
| Authors | Rodriguez, HL, Bridge, B and Sattar, TP |
|---|---|
| Editors | Marques, L, de Almeida, A, Tokhi, MO and Virk, GS |
| Abstract | A rapid expansion of wind turbine farms for sustainable electric power production is planned in Europe by 2020. At least in the UK, these will largely be located offshore to meet growing concerns about the visual intrusiveness and noise generation producedby onshore based farms. The necessary structural integrity inspection of offshore wind turbine blades poses tremendous problems of access, danger to human operatives and costs in the event of blades having to be taken out of service and transported on shore forschedules inspections. For these reasons robotic in-situ blade inspection of offshore wind turbines has been proposed and micro/nano focus computed axial X ray tomography (MNCAT) has been identified as the optimal if not the only solution for identification of safety critical defects in the thickest blade sections. The weight of such an inspection system is very high, typically 200kg and typical cross sectional scanner dimensions of 1 m × 2 m to encircle as blade, clearly involve very high destabilizing moments to be countered by the deployment robot. The solution is a climbing ring robot completely encircling a turbine tower, typically 3 meter in diameter, to provide the necessary adhesion forces and anti-destabilizing force moments. Because of the size and thus development costs of such a huge robot the optimal design path is to prototype a small scale model. First results on such a model are described and from its performance the load carrying capabilities of a full scale version can be computed and the scale model can then berefined by 'reverse engineering' to guarantee that a full scale construction is able tomeet requirements. The key design innovation is that the adhesive forces between the robot and climbing surface a provided entirely by mechanical means rather than by usingthe usual methods of vacuum suction or magnetic force, making the system much cheaper andeasier to manipulate. Furthermore the design is entirely modular. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd. |
| Page range | 555-562 |
| Year | 2008 |
| Book title | Advances in Mobile Robotics |
| Publisher | World Scientific Publishing Co |
| ISBN | 9812835768 |
| Publication dates | |
| 01 Aug 2008 | |
| Publication process dates | |
| Deposited | 03 Jan 2019 |
| Accepted | 01 Aug 2008 |
| Digital Object Identifier (DOI) | doi:10.1142/9789812835772_0067 |
| Journal | Advances in Mobile Robotics, World Scientific |
| Accepted author manuscript | License CC BY 4.0 |
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