Skip to main content
SpringerLink
Log in

A Solution to the Kinematics Problem for a Nondestructive Testing System

  • Published:
Russian Electrical Engineering Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.

Similar content being viewed by others

REFERENCES

  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.

  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.

  3. ROHMANN Wirbelstrom-Prüfgeräte und -Systeme. https://www.rohmann.com/. Accessed July 25, 2018

  4. RayScan Plus—All in one 3D-CT system. http://www.rayscan.eu/RayScanPluse.html. Accessed July 25, 2018.

  5. Inspektion von Schweiß- und Lötnähten Robiscan. http://www.automationwr.de/en/solutions/surface-inspection/3d-surface-inspection/robiscan/. Accessed July 25, 2018.

  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.

  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. 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.

Download references

ACKNOWLEDGMENTS

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.”

Author information

Authors and Affiliations

  1. Perm National Research Polytechnic University, 614990, Perm, Russia

    R. A. Faizrakhmanov, R. T. Murzakaev, V. V. Artem’ev, R. R. Bakunov & A. F. Khabibulin

Authors
  1. R. A. Faizrakhmanov
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. R. T. Murzakaev
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. V. V. Artem’ev
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. R. R. Bakunov
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. A. F. Khabibulin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to R. A. Faizrakhmanov.

Additional information

Translated by Yu. Bezlepkina

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Faizrakhmanov, R.A., Murzakaev, R.T., Artem’ev, V.V. et al. A Solution to the Kinematics Problem for a Nondestructive Testing System. Russ. Electr. Engin. 89, 658–663 (2018). https://doi.org/10.3103/S1068371218110032

Download citation

  • Received:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S1068371218110032

Keywords:

Search

Navigation