In-situ robotic interventions in hydraulic turbines

Hazel, Bruce; Côté, Jean; Laroche, Y.; Mongenot, P.

doi:10.1109/carpi.2010.5624460

Cited by 8 publications

(2 citation statements)

References 5 publications

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“…A new measurement system, based on previous work (Gagné et al, 2010;Hazel et al, 2010), is therefore required to provide a high-density 3D scan of the track. To obtain the required precision (typically ±0.035 mm over a distance of 10 m or more), the robot is coupled to laser line cameras referenced to a pair of plumb lines monitored by laser mi- crometers and tilt meters.…”

Section: High-precision Plumb Line Scanningmentioning

confidence: 99%

A portable, multiprocess, track‐based robot for in situ work on hydropower equipment

Hazel

Côté

Laroche

et al. 2011

Journal of Field Robotics

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In the hydropower industry, in situ maintenance work of turbine runners to address issues such as cavitation damage and cracking is mainly performed manually. Alternatively, the entire turbine requires disassembly and is repaired off site at greater cost. This paper presents the development and fundamentals of robotic technology designed to perform work in situ on hydroelectric equipment. A second paper surveys field implementations carried out with the technology over the past 15 years. A new portable manipulator was designed with unique track-based kinematics well suited to accessing turbine blades in a confined space. 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 major obstacle for robotic repair is excessive programming time. As most work is done on curved surfaces, the robot relies on a model of curvilinear space for trajectory generation. The robot is coupled to an accurate measurement system to scan surface topography in three dimensions. It has been equipped to perform several processes, such as welding and grinding, to facilitate the manufacture and maintenance of hydropower equipment. Despite the robot's inaccuracy and flexibility, surface profiles may be reconstructed with great accuracy through the use of a controlled metal removal rate strategy that relies on an innovative dynamic model of the grinding process. C

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Section: High-precision Plumb Line Scanningmentioning

confidence: 99%

A portable, multiprocess, track‐based robot for in situ work on hydropower equipment

Hazel

Côté

Laroche

et al. 2011

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…A track-based serial kinematic robot named SCOMPI was designed to perform in-situ processes, such as gouging, welding, grinding, hammer peening, and post-weld heat treating, for hydroelectric turbine maintenance. The track could be straight, circular, or a piece-wise sequence of circular track sections [6,7]. Moreover, a few mobile machines use a large-scale workpiece as a supporting structure.…”

Section: Introductionmentioning

confidence: 99%

A novel six-legged walking machine tool for in-situ operations

Liu¹,

Tian²,

Gao³

2020

Front. Mech. Eng.

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The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform in-situ operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for in-situ operations on large parts.

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Field repair and construction of large hydropower equipment with a portable robot

Hazel¹,

Côté²,

Laroche³

et al. 2011

Journal of Field Robotics

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Field repair work on large hydropower equipment is rarely automated due to the high complexity of the task. Generally, the work is done manually or the equipment is dismantled and repaired off site at greatly added cost and time. This paper surveys work carried out with the SCOMPI robot in the field on large hydropower equipment. SCOMPI is a small, portable, multiprocess, track-based robot. This paper is the continuation of another paper in which the fundamentals of the robot technology are described in greater detail. Over the past 15 years, SCOMPIs have been extensively employed for a variety of field applications on equipment such as turbines, head gates, spillway gates, and penstocks. Initially designed to repair cavitation damage to turbines, the robots are now applied to reinforce turbines or to improve their performance in terms of efficiency. More recently, they have been used for the refurbishment of gates and for the construction of penstocks. C 2011 Wiley Periodicals, Inc.

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In-situ robotic interventions in hydraulic turbines

Cited by 8 publications

References 5 publications

A portable, multiprocess, track‐based robot for in situ work on hydropower equipment

A portable, multiprocess, track‐based robot for in situ work on hydropower equipment

A novel six-legged walking machine tool for in-situ operations

Field repair and construction of large hydropower equipment with a portable robot

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