工程设计学报2025，Vol.32Issue(2)：159-168,10.
风力发电机叶片检测机器人的设计与分析
Design and analysis of wind-generator set blade inspection robot
摘要
Abstract
Aiming at the difficulty of wind-generator set blade inspection and the poor effect of traditional robot inspection,a wind-generator set blade inspection robot based on legged-and-tracked movement and hybrid adsorption was designed.Firstly,the mechanical characteristics of the robot moving on the blade surface were modeled,the required adsorption forces were calculated under the conditions of slip-free and overturning-free motion,and the equipment components were selected according to the calculation results.Secondly,according to the robot's structural characteristics,the corresponding control system was designed,and its moving gaits on the blade surface were planned and analyzed.Finally,the experiments were conducted to verify the effectiveness of the robot design scheme.The experimental results demonstrated that the robot had flexible moving ability and good adsorption performance,which could meet the actual demand of blade inspection.The research results not only promote the practical application of the robot in wind-generator set blade inspection,but also provide a reference for the progress and popularization of automatic inspection technology in related fields.关键词
足履式移动/复合吸附/叶片检测机器人/气压驱动Key words
legged-and-tracked movement/composite adhesion/blade inspection robot/pneumatic actuation分类
计算机与自动化引用本文复制引用
张岩,胡晓林,王凯铭,黄华..风力发电机叶片检测机器人的设计与分析[J].工程设计学报,2025,32(2):159-168,10.基金项目
甘肃省市场监督管理局科技计划项目(SSCJG-TS-A202203) （SSCJG-TS-A202203）
甘肃省特种设备检验检测研究院重点研发项目(T202102) （T202102）
