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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
Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry Pub Date : 2014-10-01 DOI: 10.1109/CARPI.2014.7030073
J. M. Motta, C. Llanos, G. C. Carvalho, S. C. Absi-Alfaro, G. A. Idrobo-Pizo, R. C. Sampaio
{"title":"A specialized robotic system prototype for repairing surface profiles of hydraulic turbine blades","authors":"J. M. Motta, C. Llanos, G. C. Carvalho, S. C. Absi-Alfaro, G. A. Idrobo-Pizo, R. C. Sampaio","doi":"10.1109/CARPI.2014.7030073","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030073","url":null,"abstract":"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.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126988601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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
Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry Pub Date : 2014-10-01 DOI: 10.1109/CARPI.2014.7030061
W. Scaff, A. Hirakawa, O. Horikawa
{"title":"Non-conducting manipulator for live-line maintenance: Use of pneumatic artificial muscles","authors":"W. Scaff, A. Hirakawa, O. Horikawa","doi":"10.1109/CARPI.2014.7030061","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030061","url":null,"abstract":"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.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114992618","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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