{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T01:45:30Z","timestamp":1784684730039,"version":"3.55.0"},"reference-count":4,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2009,6,19]],"date-time":"2009-06-19T00:00:00Z","timestamp":1245369600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,6,19]]},"abstract":"Purpose<\/jats:title>Structural integrity inspection of offshore wind turbine blades poses problems of gaining access to the blades, danger to human operatives and large costs of removing a blade and transporting it off\u2010shore for inspection. The purpose of this paper is to show that a climbing robot that can perform in situ<\/jats:italic> blade inspection with micro\/nano focus computed axial X\u2010ray tomography is a solution to find defects in the thickest blade sections and reduce the cost of inspection.<\/jats:p><\/jats:sec>Design\/methodology\/approach<\/jats:title>The weight of such an inspection system will be high, typically 200\u2009kg and cross sectional scanner dimensions of 1\u2009\u00d7\u20092\u2009m to envelope a blade. The design of a climbing ring robot that completely encircles a turbine tower, typically 3\u2009m in diameter, will provide the best means of climbing with this payload. Because of the development costs of such a huge robot, the optimal design path is to first prototype a small scale model.<\/jats:p><\/jats:sec>Findings<\/jats:title>First results on such a model are described and from its performance the load carrying capabilities of a full scale version computed. The robot is able to climb either straight up or down, or with a spiralling motion, or rotate around the circumference at the same height. Furthermore, the design is entirely modular thus enabling easy on\u2010site assembly of the robot.<\/jats:p><\/jats:sec>Originality\/value<\/jats:title>A climbing robot with high payload and versatile motion capability, with adhesive forces between the robot and climbing surface provided entirely by mechanical means rather than by vacuum suction or magnetic force, making the system much safer and easier to manipulate.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910957075","type":"journal-article","created":{"date-parts":[[2009,6,13]],"date-time":"2009-06-13T07:08:37Z","timestamp":1244876917000},"page":"326-330","source":"Crossref","is-referenced-by-count":37,"title":["Climbing ring robot for inspection of offshore wind turbines"],"prefix":"10.1108","volume":"36","author":[{"given":"Tariq P.","family":"Sattar","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hernando","family":"Leon Rodriguez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bryan","family":"Bridge","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","reference":[{"key":"key2022013020081217700_b2","doi-asserted-by":"crossref","unstructured":"Bridge, B. (2007), \u201cClimbing robots for non destructive testing: historical perspective and future trends\u201d, Advances in Climbing and Walking Robots: Proceedings of 10th International Conference (CLAWAR 2007), 16\u201018 July, World Scientific Publishing Co Pte Ltd, Singapore, pp. 25\u201032.","DOI":"10.1142\/9789812770189_0004"},{"key":"key2022013020081217700_b3","unstructured":"Chen, S., Sattar, T., Khalid, A., Ralocevic, M. and Bridge, B. (1999), \u201cPneumatic wall and ceiling climbing inspection robot able to handle diameters down to one metre with high payload capability\u201d, Proceedings of the 2nd International Conference on Climbing and Walking Robots, Clawar 99, 13\u201015 September, Professional Engineering Publishing Ltd, Portsmouth."},{"key":"key2022013020081217700_b1","unstructured":"European CRAFT project CONCEPT\u2010INSPECT (2006), \u201cComputerised open environment portable tomography\u201d, paper presented at 6th Framework Programme CRAFT COOP\u2010SME: COOP\u2010CT\u20102006\u2010032949."},{"key":"key2022013020081217700_frd1","unstructured":"Electric Power Research Institute (2000), Proceedings of the Second International Conference on NDE in relation to Nuclear and Pressurised components, New Orleans, 24\u201026 May, Electric Power Research Institute, Palo Alto, CA."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910957075","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957075\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957075\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:26Z","timestamp":1753401026000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/4\/326-330\/184122"}},"subtitle":[],"editor":[{"given":"Kenneth J.","family":"Waldron","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"editor"}]}],"short-title":[],"issued":{"date-parts":[[2009,6,19]]},"references-count":4,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,6,19]]}},"alternative-id":["10.1108\/01439910910957075"],"URL":"https:\/\/doi.org\/10.1108\/01439910910957075","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2009,6,19]]}}}