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1 Helical Robotics Proprietary HR-1001ULL Wind Tower Inspection Robot Renderings, Photos, and Information www.helicalrobotics.com v1/4/13
| Date post: | 13-Jul-2015 |
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1Helical Robotics Proprietary
HR-1001ULL Wind Tower Inspection Robot
Renderings, Photos, and Information
www.helicalrobotics.com
v1/4/13
HR-1001ULL Information
• Summary: This robot is designed for carrying payloads up to 15 lb up large diameter cylinders (> 8 ft) or walls of ferrous material– Focus is carrying Axis camera up a wind tower
– Minimalist design for lightest chassis possible while being quick/simple to manufacture in-house and disassemble in the field
– “Up” direction is all wheels forward to increase stability and allow weld passage• 90 degrees from past designs
• Physical Specifications– Assembled LxWxH Approximately 30”x21”x17”
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– Assembled LxWxH Approximately 30”x21”x17”
– Mass <45 lb w camera + wireless + batteries � <36 lb drivable robot mass
– Number of Magnets: 5 Ring Magnets
– Wheels on Pivot: Yes
– Motor/Gearbox: 256:1 P60 w RS-775 motor powered by Talon Speed controllers (TBR)• Nominal Operating Voltage: 12-18 V
• Battery/Batteries (TBR): Lithium Iron Phosphate OR Lithium Polymer
• Controller Specifications – Arduino based control system
• System is self correcting to automatically keep robot pointed “up” while in operation– Accelerometers and gyros used (no omni-wheel encoder use planned)
• CANipede can be used until Arduino system is ready if need be
Renderings
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Renderings
Information View
Weather Proof Pelican Case(Internal Content Layout TBD)Axis Camera Magnet Adj. Handle
and Lock Pin
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6” Mecanum Wheels on Al Pivot Frame
Pivot/Magnet/Wire Conduit Tube
Wireless Communication Antennas
HR-1001ULL Side View
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HR-1001ULL Top View
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HR-1001ULL Back View
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HR-1001ULL Floor View
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HR-1001ULL On 80M Tower
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HR-1001ULL On 80M Tower
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Photos
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PhotosVideos Located at:
www.helicalrobotics.com/video
HR-1001ULL Magnets Stowed
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HR-1001ULL Magnets Deployed
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HR-1001ULL Bench View
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HR-1001ULL Back View
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HR-1001ULL On Wind Tower
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HR-1001ULL On Wind Tower
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HR-1001ULL Climbing Tower
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HR-1001ULL Climbing Tower
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HR-1001ULL Tilt Stability
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HR-1001ULL On Wind Tower
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Adverse Winter Weather
• HR-1001ULL was tested during winter storm Draco in Michigan on December 21, 2012– Sustained winds of 30 mph gusting to 50 mph
– Snow and blowing snow conditions
• No adverse affects in operation observed
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HR-1001ULL Winter Storm Testing
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HR-1001ULL Winter Storm Testing
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HR-1001ULL Winter Storm Testing
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Contact Information
• Business: Bruce Schlee ([email protected])
• Technical: Keith Schlee ([email protected])
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