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Machines 2017, 5(1), 10; doi:10.3390/machines5010010

Automated Mounting of Pole-Shoe Wedges in Linear Wave Power Generators—Using Industrial Robotics and Proximity Sensors

Department of Engineering Sciences, Uppsala University, Box 534, 751 21 Uppsala, Sweden
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Received: 16 January 2017 / Revised: 8 March 2017 / Accepted: 10 March 2017 / Published: 17 March 2017
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Abstract

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 50mm/s, and calibration accuracies of 0.25mmand 0.1 ∘ 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. View Full-Text
Keywords: automated production; wave power; robotics; calibration; sensors; wedges; linear-generator; touch probe automated production; wave power; robotics; calibration; sensors; wedges; linear-generator; touch probe
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Kamf, T.; Leijon, M. Automated Mounting of Pole-Shoe Wedges in Linear Wave Power Generators—Using Industrial Robotics and Proximity Sensors. Machines 2017, 5, 10.

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