Robotic system for non-destructive testing of complex shaped objects

International Conference on Mechanical Engineering, Automation and Control Systems 2017

机械制造;无线电电子学;计算机科学

Kavalerov, B.V.^1 ; Fayzrakhmanov, R.A.^1 ; Murzakaev, R.T.^1 ; Polyakov, A.N.^1 ; Artemev, V.V.^1

Perm National Research Polytechnic University, 29 Komsomolskiy Avenue, Perm

614000, Russia^1

关键词: Manipulator systems;    Non destructive testing;    Original algorithms;    Polymer composite materials;    Positioning system;    Robotic systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/327/2/022057/pdf
DOI  :  10.1088/1757-899X/327/2/022057

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

This article describes the positioning system of defectoscopic equipment for nondestructive examination of complex shaped parts made of polymer composite materials. The purpose of the system and features of the investigated objects are described. The rationale for the development of the system and the range of problems it solves are presented. The solution of the kinematics problem for a 5-DOF manipulator is considered. The original algorithms for solving the kinematics problem are demonstrated. Methods for resolving collisions for a manipulator system are described. The results obtained in the course of experiments and studies are presented.