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This paper describes an automated system called Roboturb, designed for inspection and maintenance tasks of rotor blades of hydroelectric turbines damaged by cavitation. The main element of this system is a robotic device, with six rotative joints, designed to displace on a portable and flexible rail, configuring a redundant robot with seven degrees of freedom. The robot is supplemented with a set of developed acessories composed by a laser measuring head, to scan the eroded area, a plasma welding system, a teach-pendant for robot operation, an industrial computer, interfaces and power cards for motors and drive systems. The paper presents a description of the robot and its components, and an application of the system in a real task, validating the project and demonstrating its potencial to realize a controlled maintenance.
Date of Conference: 11-13 Sept. 2012