Research On Device For Irregular Surface Detection Based On 3-RPS Parallel Robot

Compared with the general small devices, the detection methods of wind turbine blades are mainly difficult:complex structure,large size, detection of time-consuming work,mostly not smooth arc shape and commonly used plane detection method is not applicable. Therefore, it is of great significance to realize the automatic detection instead of the traditional manual detection.In this paper, a kind of automatic detection device based on 3-RPS parallel robot is proposed.It is a spatial three degree of freedom mechanism,with a small number of branches,symmetric structure,easy drive arrangement,large carrying capacity, easy to realize the dynamic platform position and orientation angle, etc..At present,it has been successfully applied in the project.Firstly,the kinematics analysis of 3-RPS parallel mechanism is carried out,and establish the three-dimensional model of the working process of the wind turbine blade based on 3-RPS parallel robot.On the basis of analyzing the mechanism structure,according to the driving vice stroke,the hinge angle,the connecting rod size interference and other limiting factors,the constraint conditions is established,the kinematics is analyzed and he optimal detection can be realized on the irregular surface.Secondly,the path planning problem of the irregular surface is analyzed.It mainly involves two aspects of security and path optimization.In the processing of the path optimization,the sensor can detect the distance between the probe and the wind power blade, and make it take the shortest path and When encountered obstacles, it can be timely to avoid collision.Finally,in the designed scheme, the control system of each module is put forward, and the whole detection device is divided into two control system modules:analysis of the control system of the wind turbine blade carrier based on 3-RPS parallel robot and the analysis of the 3-RPS parallel robot control system.