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Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry最新文献

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A specialized robotic system prototype for repairing surface profiles of hydraulic turbine blades 用于修复水轮机叶片表面轮廓的专用机器人系统原型
J. M. Motta, C. Llanos, G. C. Carvalho, S. C. Absi-Alfaro, G. A. Idrobo-Pizo, R. C. Sampaio
This article presents the steps of an ongoing R&D project aiming at designing and constructing a prototype of a specialized welding robotic system for repairing the surface of hydraulic turbine blades eroded by cavitation pitting and/or cracked by cyclic loading, reducing human risks and increasing the efficiency of the process. The robotic system has a spherical topology with 5 d.o.f., electric stepper and DC servo motors. The system has an embedded vision sensor built to produce range images by scanning laser beams on the blade surface and to construct 3-D models to locate the damaged spots to be recorded into the robot controller in 3-D coordinates, enabling the robot to repair the flaws automatically by welding in layers. The robot prototype is at final stages to be fully operational, with some remaining procedures such as computer systems integration and calibration for final tests and commissioning.
本文介绍了一个正在进行的研发项目的步骤,该项目旨在设计和构建一个专门的焊接机器人系统的原型,用于修复因空化点蚀和/或循环加载而破裂的水轮机叶片表面,减少人为风险并提高过程效率。机器人系统具有球面拓扑结构,具有5个d.o.f,电动步进和直流伺服电机。该系统内置视觉传感器,通过扫描叶片表面的激光束产生距离图像,并构建三维模型,定位损坏点,以三维坐标记录到机器人控制器中,使机器人能够通过分层焊接自动修复缺陷。机器人原型正处于全面运行的最后阶段,还有一些剩余的程序,如计算机系统集成和校准,以进行最终测试和调试。
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引用次数: 4
Non-conducting manipulator for live-line maintenance: Use of pneumatic artificial muscles 用于带电维护的非导电机械手:使用气动人造肌肉
W. Scaff, A. Hirakawa, O. Horikawa
There are some situations where traditional robotics cannot be used or are very limited. This is the case of high electric and/or magnetic field environments such as electric power lines or inside a magnetic resonance machine. For the continuous supply of electric energy, companies frequently perform live-line maintenances, which are very dangerous. Teleoperated robots can be used for the live-line maintenance, but there are several difficulties, including the insulation. For that, this paper presents a study regarding the development of a totally non-conducting manipulator for-live line maintenance. The work firstly discusses the strategy for developing such device, concluding that efforts should be concentrated on the development of a nonconducting actuator. Thus, a McKibben type pneumatic artificial muscle is proposed as a nonconducting actuator. The prototype is developed and its characteristics, including its control, is evaluated.
在一些情况下,传统的机器人技术不能使用或非常有限。这是高电场和/或磁场环境的情况,如电力线或磁共振机内部。为了电力的持续供应,企业经常进行带电维护,这是非常危险的。远程操作机器人可以用于现场维护,但存在一些困难,包括绝缘。为此,本文提出了一种用于带电线路维修的全非导电机械手的开发研究。本文首先讨论了非导电作动器的发展策略,认为应重点发展非导电作动器。因此,提出了一种McKibben型气动人造肌肉作为非导电执行器。研制了样机,并对样机的控制等特性进行了评价。
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引用次数: 1
期刊
Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry
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