NDLI: A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator

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A Robot-Assisted Large-Scale Inspection of Wind Turbine Blades in Manufacturing Using an Autonomous Mobile Manipulator

Content Provider	MDPI
Author	Patrick, Cönen Engemann, Heiko Dawar, Harshal Du, Shengzhi Kallweit, Stephan
Copyright Year	2021
Description	Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form.
Starting Page	9271
e-ISSN	20763417
DOI	10.3390/app11199271
Journal	Applied Sciences
Issue Number	19
Volume Number	11
Language	English
Publisher	MDPI
Publisher Date	2021-10-06
Access Restriction	Open
Subject Keyword	Applied Sciences Industrial Engineering Mobile Manipulation Large-scale Inspection Wind Turbine Production Autonomous Navigation Surface-orthogonal Path Planning Intelligent Robot Flexible Production
Content Type	Text
Resource Type	Article

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