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Automated Mounting of Pole-Shoe Wedges in Linear Wave Power Generators-Using Industrial Robotics and Proximity Sensors
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
2017 (English)In: MACHINES, ISSN 2075-1702, Vol. 5, no 1, 10Article in journal (Refereed) Published
Abstract [en]

A system for automatic mounting of high tolerance wedges inside a wave power linear generator is proposed. As for any renewable energy concept utilising numerous smaller generation units, minimising the production cost per unit is vital for commercialization. The linear generator in question uses self-locking wedges, which are challenging to mount using industrial robots due to the high tolerances used, and because of the fact that any angular error remaining after calibration risks damaging the equipment. Using two types of probes, mechanical touch probes and inductive proximity sensors, combined with a flexible robot tool and iterative calibration routines, an automatic mounting system that overcomes the challenges of high tolerance wedge mounting is presented. The system is experimentally verified to work at mounting speeds of up to 50mms(-1), and calibration accuracies of 0.25mm and 0.1 degrees are achieved. The use of a flexible robot tool, able to move freely in one Cartesian plane, was found to be essential for making the system work.

Place, publisher, year, edition, pages
MDPI AG , 2017. Vol. 5, no 1, 10
Keyword [en]
automated production, wave power, robotics, calibration, sensors, wedges, linear-generator, touch probe
National Category
Environmental Engineering
Identifiers
URN: urn:nbn:se:uu:diva-324353DOI: 10.3390/machines5010010ISI: 000401524900009OAI: oai:DiVA.org:uu-324353DiVA: diva2:1109730
Funder
VINNOVA
Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-06-14Bibliographically approved

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