A Solution to the Kinematics Problem for a Nondestructive Testing System

摘要

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.