The aim is to develop a prototype wall climbing robot/s that can carry a long boom to deploy a scanning arm to inspect wind blades. The blades are at a distance of 3-6 meter from the tower. The robot design is required to be modular so that it can be easily carried to a site (towers located in the sea) and assembled quickly.
The objectives are:
1. Perform an analysis of the moments and forces for a number of competing designs so that the overturning moments and sliding forces can be minimized and opposed by robot adhesion forces. Assume a vertical wall on which the robots should climb. Also, explore a tapering tower where the wall is inclined at an angle of less than 5 degree. The constraints are: (a) robots should be as small and compact as possible (b)The boom should be as rigid and light weight as possible.
2. Set up a small scale experimental rig to validate the analysis.
3. Propose a transformation to scale up to real industrial use.
4. Develop a team of two to three small scale climbing robots that use permanent magnet adhesion and the optimum boom structure solution obtain earlier. Demonstrate on a steel wall with a suitable scaled down payload.
The challenge is to establish the right framework for the analysis. SimMechanics or SolidEdge/Autocad or similar should be used for verification of the analysis. Investigate boom/truss structures that will be lightweight yet rigid. Perform an analysis of climbing robot designs w.r.t. sliding/anti-sliding forces and overturning/anti-overturning moments.
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I have experience in SimMechanics for dynamics simulation and have expertise in Solidworks, my qualification and work experience is also related to this project