Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components

Carmelo Mineo, Maxim Morozov, Rahul Summan, Carmelo Mineo, Charles Macleod, Danial Kahani, Paul Mccubbin, David Watson, Jonathan Powell, Scott Paton, Coreen Mccubbin, Gavin Munro, Tony Rodden, S. Gareth Pierce

Risultato della ricerca: Conference contribution

5 Citazioni (Scopus)

Abstract

Improvements in performance of modern robotic manipulators have in recent years allowed research aimed at development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well adaptable to new tasks. Several robotic inspection prototype systems and a number of commercial products have been developed worldwide. This paper describes the latest progress in research focused at large composite aerospace components. A multi-robot flexible inspection cell is used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for the future industrial exploitation. The robot cell is equipped with high accuracy and high payload robots, mounted on 7 meter tracks, and an external rotary axis. A robotically delivered photogrammetry technique is first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming is used to generate a scan path for phased array ultrasonic testing (PAUT). PAUT is performed using a conformable wheel probe, with high data rate acquisition from PAUT controller. Real-time robot path-correction, based on force-torque control (FTC), is deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software is developed that enabled simultaneous control of the multiple robots performing different tasks and the acquisition of accurate positional data. All aspects of the system are controlled through a purposely developed graphic user interface that enables the flexible use of the unique set of hardware resources, the data acquisition, visualization and analysis.
Lingua originaleEnglish
Titolo della pubblicazione ospiteAIP Conference Proceedings
Pagine020026-
Numero di pagine10
Stato di pubblicazionePublished - 2017

Serie di pubblicazioni

NomeAIP CONFERENCE PROCEEDINGS

All Science Journal Classification (ASJC) codes

  • Physics and Astronomy(all)

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    Mineo, C., Morozov, M., Summan, R., Mineo, C., Macleod, C., Kahani, D., Mccubbin, P., Watson, D., Powell, J., Paton, S., Mccubbin, C., Munro, G., Rodden, T., & Pierce, S. G. (2017). Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components. In AIP Conference Proceedings (pagg. 020026-). (AIP CONFERENCE PROCEEDINGS).