JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A

Accepted manuscript available online (unedited version)

Kinematic modeling and stability analysis for a wind turbine blade inspection robot

Author(s): Jindan WANG, Xiaolong MA, Xinghan ZHU, Xin WANG, Lan ZHANG, Binrui WANG
Affiliation(s): College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China; more
Corresponding email(s): wangbrpaper@163.com
Key Words: Composite robot; Wind turbine blades; Surface of variable curvature; Stability; Nondestructive testing

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Jindan WANG, Xiaolong MA, Xinghan ZHU, Xin WANG, Lan ZHANG, Binrui WANG. Kinematic modeling and stability analysis for a wind turbine blade inspection robot[J]. Journal of Zhejiang University Science A,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2300619

@article{title="Kinematic modeling and stability analysis for a wind turbine blade inspection robot",
author="Jindan WANG, Xiaolong MA, Xinghan ZHU, Xin WANG, Lan ZHANG, Binrui WANG",
journal="Journal of Zhejiang University Science A",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/jzus.A2300619"
}

%0 Journal Article
%T Kinematic modeling and stability analysis for a wind turbine blade inspection robot
%A Jindan WANG
%A Xiaolong MA
%A Xinghan ZHU
%A Xin WANG
%A Lan ZHANG
%A Binrui WANG
%J Journal of Zhejiang University SCIENCE A
%P
%@ 1673-565X
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/jzus.A2300619"

TY - JOUR
T1 - Kinematic modeling and stability analysis for a wind turbine blade inspection robot
A1 - Jindan WANG
A1 - Xiaolong MA
A1 - Xinghan ZHU
A1 - Xin WANG
A1 - Lan ZHANG
A1 - Binrui WANG
J0 - Journal of Zhejiang University Science A
SP -
EP -
%@ 1673-565X
Y1 - in press
PB - Zhejiang University Press & Springer
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doi="https://doi.org/10.1631/jzus.A2300619"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

Abstract: Robots are used to conduct non-destructive defect detection on wind turbine blades and monitor their integrity over time. However, current inspection robots are often bulky, heavy, and struggle to detect defects in the blade’s main beam, thus presenting difficulties in portability and effectiveness. To address these issues, we design a wheel-wing composite robot equipped with a curved surface-adaptive phased array ultrasonic detection device for the detection of defects in the wind turbine blade’s main beam. We determine the pose equation under different section characteristics and identify the robot’s stable range of motion, thus developing a model of its kinematics. A detection device adapted for variable curvature surfaces is designed to ensure tight coupling between the robot’s probe and the blade. Additionally, element differential and least squares ellipse-fitting methods are employed to analyze blades with irregular sections. The simulation results demonstrate that the prototype can stably traverse an area with a vertical angle of ±14.06° at a speed of 0.25 m/s, fully covering the main beam area of the blade during walking operations. Moreover, the robot can scan the main beam area at a speed of 0.1 m/s, enabling the accurate detection of defects.

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