Secco, E; Deters, C; Wurdemann, HA; Lam, HK; Althoefer, K; (2016) An Integrated Method for the Geometric Inspection of Wind Turbine Hubs with Industrial Robot. Journal of Intelligent Computing , 7 (1) pp. 1-17.

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Abstract

Wind turbine manufacturing requires the assembly of large mechanical components, which is crucial to inspect along the production line in order to prevent high reparation costs afterwards. A critical component in this process is the turbine hub, which supports the wind blades and ball bearings allowing the pitch motion. At present, hub inspection is a manual task, which requires expert operators and long execution time. This paper proposes a novel methodology for the selfadaptive inspection of wind turbine hubs via industrial robots: a set of Critical-To-Quality parameters (CTQs), are inferred from the CAD drawing of wind turbine hub; registration between robot and hub is performed; finally a CAD2robot trajectories planning is accomplished. Methodology is implemented through a Matlab and Simulink Programming Language and combined with an Industrial PC-based control technology Beckhoff TwinCAT 3. Tests with an Fanuc Industrial M-6iB robot arm and R-30iA controller have been successfully performed on re-scaled model of the hub. The flexibility of this methodology allows applications on other industrial contexts, which can benefit from automation.

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