Russian Electrical Engineering

, Volume 89, Issue 11, pp 658–663 | Cite as

A Solution to the Kinematics Problem for a Nondestructive Testing System

  • R. A. FaizrakhmanovEmail author
  • R. T. Murzakaev
  • V. V. Artem’ev
  • R. R. Bakunov
  • A. F. Khabibulin


Over the past 20 years, polymer composite materials have become widespread in the aviation industry. The use of these materials can significantly reduce weight and improve the environmental parameters and efficiency of the aircraft. This, in turn, requires a high level of automation and robotization of the main technological processes in production; moreover, the nondestructive testing and flaw detection of the component parts and assemblies occupy about 30% of the labor intensity of the technological production process. The article presents a brief description of a nondestructive testing system developed to solve this problem consisting of the five-link manipulator with the X-ray emitter and portal with a radiation receiver. The kinematic diagrams of the system components are described, and a mathematical model of the solution of the problem of direct and inverse kinematics using the geometric method is presented for the manipulator and receiver. The testing of the constructed model is made, which shows its adequacy.


nondestructive testing systems inverse kinematics modeling and control five-link manipulator flaw detection 



The study was supported by the Russian Science Foundation, project no. 16-19-00155 “A Robotic System of Multiangle Microfocus X-ray Diffraction of Aircraft Components and Assemblies of Polymer Composite Materials under a Complex Action.”


  1. 1.
    Anoshkin A.N., Zuiko, V.Y., Tashkinov, M.A., and Silberschmidt, V.V., Repair of damage in aircraft composite sound-absorbing panels, Compos. Struct., 2015, vol. 120.Google Scholar
  2. 2.
    Murzakaev, R.T., Faizrakhmanov, R.A., Bakunov, R.R., and Mekhonoshin, A.S., Robotic system for nondestructive testing of complex-shape objects, Elektrotekhnika, 2016, no. 11.Google Scholar
  3. 3.
    ROHMANN Wirbelstrom-Prüfgeräte und -Systeme. Accessed July 25, 2018Google Scholar
  4. 4.
    RayScan Plus—All in one 3D-CT system. Accessed July 25, 2018.Google Scholar
  5. 5.
    Inspektion von Schweiß- und Lötnähten Robiscan. Accessed July 25, 2018.Google Scholar
  6. 6.
    Kavalerov, B.Y., Fayzrakhmanov, R.A., Murzakaev, R.T., Polyakov, A.N., and Artemev, V.V., Robotic system for non-destructive testing of complex shaped objects, IOP Conf. Ser.: Mater. Sci. Eng., 2018, vol. 327.Google Scholar
  7. 7.
    Fu, K.S., González, R.C., and Lee, C.S.G., Robotics: Control, Sensing, Vision and Intelligence, New York: McGraw-Hill, 1987.Google Scholar
  8. 8.
    Gan, J.Q., Oyama, E., Rosales, E.M., and Hu, H., A complete analytical solution to the inverse kinematics of the Pioneer2 robotic arm, J. Robotica, 2005, vol. 23.Google Scholar

Copyright information

© Allerton Press, Inc. 2018

Authors and Affiliations

  • R. A. Faizrakhmanov
    • 1
    Email author
  • R. T. Murzakaev
    • 1
  • V. V. Artem’ev
    • 1
  • R. R. Bakunov
    • 1
  • A. F. Khabibulin
    • 1
  1. 1.Perm National Research Polytechnic UniversityPermRussia

Personalised recommendations