임은철 고진환 2024-01-19T11:31:16Z 2024-01-19T11:31:16Z 2022-10-18 2022-08 1975-6291 https://pubs.kist.re.kr/handle/201004/114779 Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it‘s position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines. Korean 한국로봇학회 해상풍력발전 지지구조물의 유지보수용 수중 기둥등반로봇에 관한 실험적 연구 Experimental Study on an Underwater Pole Climb Robot for the Maintenance of Offshore Wind Turbine Substructures Article 10.7746/jkros.2022.17.2.238 2 로봇학회 논문지, v.17, no.2, pp.238 - 244 로봇학회 논문지 17 2 238 244 N kci ART002843834 Offshore Wind Turbine Substructure Underwater Pole Climbing Robot Gripper Self-Locking Dual Configuration