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  hydraulic turbine blade
Mobile platform for hydraulic turbine blade repair robot
      
The wall-climbing mobile platform (MP) of a robot for repairing a hydraulic turbine blade onsite is developed.
      
The platform can automatically adapt to complex spatial surfaces, which satisfy the requirements of a hydraulic turbine blade in-situ repair robot.
      
The system was specifically developed to measure two types of hydraulic turbine blade with dimensions of approximately 1.5m x 1.5m x 0.5m.
      
  turbine blade
Mobile platform for hydraulic turbine blade repair robot
      
The wall-climbing mobile platform (MP) of a robot for repairing a hydraulic turbine blade onsite is developed.
      
A mechanism of three revolution degrees of freedom, which connects the magnetic devices with the platform's chassis, is developed to make the platform self-adapt to the complex curved surface of the turbine blade.
      
The platform can automatically adapt to complex spatial surfaces, which satisfy the requirements of a hydraulic turbine blade in-situ repair robot.
      
Probability strength design of steam turbine blade and sensitivity analysis with respect to random parameters based on response
      
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This article presents main structure,function and teaching method of the teaching_playback arc_welding manipulator system which is applied to repair hydraulic turbine blade.In addition,the result of teaching procedure are given in this article.Teaching result shows that the manipulator is convenient and reli-able to operate,and it has high precise.So it can be used to repairing hydraulic turbine blades.

介绍了水轮机叶片修复用示教再现型弧焊机械手系统的基本结构、功能和示教方法。给出了该机械手的示教结果[1]。结果表明,该机械手工作可靠,操作简便,再现精度高,能满足修复工作的要求。

This article presents main structure, function, and teaching method of the teaching playback arc welding manipulator system, which is applied to the repair of hydraulic turbine blade. In addition, interpolation algorithm and the result of reproducing are also given in this article. Teaching result shows that the precision of reproducing is less than 0 8 mm on the whole, meeting the repairing requirements. This manipulator also can reproduce various curved curve. [WT4”HZ]

介绍了水轮机叶片修复用示教再现型弧焊机械手系统的基本结构、功能及其示教方法 ,并给出了它的插补算法和再现结果 .结果表明 ,该机械手再现精度基本保持在 0 .8mm以内 ,能满足修复工作的要求 .并且已能进行多种曲面的再现

The usage, characteristics and joint construction of turbine blade repair robot for hydroelectric power plant are described. The robot kinetic equations related to given grinding track is deduced and solved. Simualation was done with the help of the MATLAB software.

介绍了水轮机叶片表面修补机器人的用途、特点和关节结构,推导、求解了与磨削轨迹有关的机器人运动方程,并在MATLAB软件环境下进行了仿真.仿真结果证明,该方法简单易懂。

 
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