Fluidsim portable5/2/2023 As most work is done on curved surfaces, the robot relies on a model of curvilinear space for trajectory generation. A major obstacle for robotic repair is excessive programming time. The robot is driven by position-controlled stepper motors but relies on a hybrid force/position controller to perform processes in contact with the work piece, such as grinding. A new portable manipulator was designed with unique track-based kinematics well suited to accessing turbine blades in a confined space. A second paper surveys field implementations carried out with the technology over the past 15 years. This paper presents the development and fundamentals of robotic technology designed to perform work in situ on hydroelectric equipment. Alternatively, the entire turbine requires disassembly and is repaired off site at greater cost. In the hydropower industry, in situ maintenance work of turbine runners to address issues such as cavitation damage and cracking is mainly performed manually.
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