Path Planning And Contact Force Compliance Control Of Climbing Robot For Rotor Blade Inspection

Currently, rotor blades damage is only detected manually, which isinefficient and dangerous. Using the climbing robot to detect blades surfaces damageis proposed. The problems of3D path planning and landing force control based onthe protoytpe on the rotor blade are studied. The major studies are as follows.Firstly, the locomotion mechanism and adsorption mechanism which can climbon the curved surface of rotor blade are studied. Then, the robot’s safety condition ofadsorption based on the statics balance (equations) and kinematics of the mass centerbased on D-H method are also analyzed, the design reference of robot mechanismand sucker radius are obtained. Also, obstacle performance of the climbing robot isanalyzed.Seconedly, in order to solve the problem of path planning on the surface of rotorblade, a new path planning method which combine neural network and simulatedannealing is proposed. At the same time, computing method of the weight intemperature updating function is designed.Furthermore, landing force complaince control during the process of climbingis discussed. PO/PC method for walking robot lading force control is applied to thestudy of climbing robot’s contact force control. The port network system of the footand surface of rotor blade is established, which is based on the theories of passivityand energy conservation.Finnally, the physical prototype of three degree-of-freedom is developed;Mini45force measuring system of ATI company is installed to verifyvalidity and feasibility of the PO/PC algorithm. The landing force is reducedto22N, while the stable supporting force of the adsorption foot is21N.What’s more,"jumping phenomenon" is eliminated. Climbing experiments onthe rotor blade is also carried out.