A Wind-Turbine-Tower-Climbing Robot Prototype Operating at Various Speeds and Payload Capacity: Development and Validation

摘要

The development of control technology on wind turbine application robots has played an integral role in facilitating the digitization of inspection and maintenance in the wind energy industry. This paper presents a wind-turbine-climbing robot that determines the service lifespan of the wind turbine components subject to its payload capacity. The model has four rubber wheels, as the driving mechanism for its locomotion is being supported by a Bowden cable as a winding mechanism for its adhesion. The design further incorporates an Arduino microcontroller, distance sensors, motors, and a step motor to form its electromechanical structure. The overall capability of the robot has been analyzed through its kinematics and dynamics. Practical indoor experiments using a wind turbine tower mockup have been conducted for the validation of the various speeds and payload capacity of the prototype. The results indicate the effectiveness of its driving and winding mechanism to climb at the various speeds and with or without a payload. The advantage of the operations of its mechanism conformed with the wind turbine application robots.