해상풍력발전 지지구조물의 유지보수용 수중 기둥등반로봇에 관한 실험적 연구
Experimental Study on an Underwater Pole Climb Robot for the Maintenance of Offshore Wind Turbine Substructures
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it‘s position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines.
Abstract
Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it‘s position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines.
참고문헌 (15)
- M. E. Kim, "Offshore Wind Power Technology Status and Prospect", The Society of Naval Architects of Korea, 48(3), pp.44~50 (2011)
- A. Baghani, "Kinematics Modeling of a Wheel-Based Pole Climbing Robot(UT-PCR)", 2005 IEEE International Conference on Robotics and Automation (2005)
- M. A. Rashed, "Climbing Robots for NDT Applications", Human-Centric Robotics (2017)[DOI]
- Panich, "Development of a Wall Climbing Robot", Journal of Computer Science, 6(10), pp.1185~1188 (2010), Science Publications[DOI]
- O. Reinoso, "Industrial Robotics: Programming, Simulation and Applications", pp.663~676 (2006)
- K. R. Asfar, "Palm Tree Climbing Robot", Journal of Automation and Control Engineering, 4(3), pp.220~224 (2016)[DOI]
- A. Bekhit, "Parallel Platform-Based Robot for Operation in Active Water Pipes", Ph.D, pp.2015
- M. Almonacid, "Motion planning of a climbing parallel robot", IEEE Transactions on Robotics and Automation, 19(3), pp.485~489 (2003), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- H. Gao, "Wheel Based Pole Climbing Structure Built for Replacing Manpower in Hazardous Environments and Creating a Platform for Telegraph Pole Deicing and Reconstruction", Journal of Physics Conference Series, 1549 (2020)[DOI]
- T. P. Sattar, "Mobile Wall Climbing and Swimming Robots to Inspect Aircraft, Storage Tank, Pressure Vessels and Large Infrastructure", 24th ISPE International Conference on CAD, 2008, ~
- M. Tavakoli, "A Hybrid Pole Climbing and Manipulating Robot with Minimum DOFs for Construction and Service applications", Industrial Robot, 32(2), pp.171~178 (2005)[DOI]
- Marc Osswald, "Design and control of a climbing robot based on hot melt adhesion", Robotics and Autonomous Systems, 61(6), pp.616~625 (2013), Elsevier BV[DOI]
- T. L. Lam, "A Flexible Tree Climbing Robot : Treebot – Design and Implementation", 2011 IEEE International Conference on Robotics and Automation (2011)
- J. L. Guo, "A Concept Selection Method for Designing Climbing Robots", Key Engineering Materials, 649, pp.22~29 (2015)[DOI]
- Jean‐Christophe Fauroux, "Design of a climbing robot for cylindro‐conic poles based on rolling self‐locking", Industrial Robot: An International Journal, 37(3), pp.287~292 (2010), Emerald[DOI]