R.A. Fayzrakhmanov - Dr.Sc. (Econ.), Ph.D. (Eng.), Head of the Department of Information Technology and Automated Systems, Perm National Research Polytechnic University. E-mail: fayzrakhmanov@gmail.com R.T. Murzakaev - Ph.D. (Eng.), Associate Professor, Department of Information Technology and Automated Systems, Perm National Research Polytechnic University. E-mail: rustmur@gmail.com R.R. Bakunov - Post-graduate Student, Assistant, Department of Information Technology and Automated Systems, Perm National Research Polytechnic University. E-mail: bakunov_roman@mail.ru A.S. Mekhonoshin - Post-graduate Student, Assistant, Department of Information Technology and Automated Systems, Perm National Research Polytechnic University. E-mail: akropag@mail.ru

This article describes the approach to solving the urgent problem of precise automated positioning elements microfocus X-ray flaw detection systems. X-ray analysis is one of the most effective methods of non-destructive microstructure analysis of the polymer components of composite materials (PCM), revealing their internal defects and diagnosis of the condition. Currently, due to the extensive use of PCM in the construction of aircraft and space technology is relevant determination of residual life of parts and components made from composite materials. The article describes one of the solutions to this problem, devel-oped in the Perm National Research Polytechnic University. The developed system should provide the ability to study all types of facilities that include a relatively small objects of complex shape, and oversized objects. Significant study of such objects is impossible without the use of specialized hardware with intelligent control, including robotic arms. Developed positioning system includes several key components: 1. The robotic arm mounted with a microfocal X-ray emitter. The manipulator must provide parts with different irradia-tion angles in compliance with a predetermined distance and to ensure strictly perpendicular orientation relative to the emitter surface of the radiation detector. 2. Frame construction with guiding, positioning providing digital X-ray detector along three axes and rotation in three planes. 3. The turntable on which the item is secured with the help of a set of bindings. Before the start of the study three-dimensional model of the investigated object is broken into fragments, each of which will be investigated on an individual algorithm. Positioning system coordinates is sent a set of instructions to move and a list of actions you want to perform at each point (idling, make an X-ray, etc.). Robotic arm is the most complex component of the system in terms of mechanics and control. Structurally, the manipu-lator consists of load-bearing elements, rotation units, an X-ray emitter, the main controller, the sensors of the manipulator position, etc. A digital X-ray detector is mounted on a special carriage which enables it to rotate in three dimensions, the carriage it-self is mounted on rails and can be moved in three planes. The rotation detector and the movement of the carriage provided with stepper gearmotors, which are controlled via the motor driver. As part of the present article describes a positioning system design flaw detection equipment for non-destructive inves-tigation of parts of complex shape of polymer composite materials. Described components and their positioning system device. Demonstrated a three-dimensional model of the system described, shows a prototype manipulator.

 

1. Anoshkin A.N., Zuiko V.Yu., Tashkinov M.A., Silberschmidt V.V. Repair of damage in aircraft composite sound-absorbing panels // Composite Structures. 2015. V. 120. P. 153-166. DOI:10.1016/j.compstruct.2014.10.001.
2. Anoshkin A.N., Zuiko V.Yu., Tchugaynova A.V., Shustova E.N. Experimental-theoretical research of mechanical properties of perforated composite sandwich panels // Solid State Phenomena. 2016. V. 243. P. 1-10. DOI:10.4028/www.scientific.net/SSP.243.1.
3. Zenkevich S.L., JUshhenko A.S. Osnovy upravlenija manipuljacionnymi robotami. M.: MGTU im. N.EH. Baumana. 2004. 480 s.
4. Fu K., Gonsales R., Li K. Robototekhnika: Per. s angl. M.: Mir. 1989. 624 s.
5. Gorodilov A.JU. Geneticheskijj algoritm diagnostirovanija cifrovykh ustrojjstv // Vestnik permskogo nacionalnogo issledovatelskogo politekhnicheskogo universiteta. EHlektrotekhnika, informacionnye tekhnologii, sistemy upravlenija. Perm. 2013. № 7. S. 54-62.
6. Bakunov R.R., Fajjzrakhmanov R.A., Mekhonoshin A.S. Razrabotka i realizacija protokola obmena dannymi dlja lokalnojj seti raspredelennykh apparatnykh modulejj // V mire nauchnykh otkrytijj. 2015. № 10.2(70). S. 624-636.
7. Fajjzrakhmanov R.A., Mekhonoshin A.S., Bakunov R.R., Fedorov A.B., Bikmetov R.R. Osobennosti razrabotki i realizacii mobilnykh pultov trenazhernogo kompleksa operatora portalnogo krana // Inzhenernyjj vestnik Dona. 2012. № 4. URL: ivdon.ru/magazine/archive/n4p1y2012/1267.
8. Cubero S. Industrial Robotics: Theory, Modelling and Control. Pro Literatur Verlag, Germany. 2006. 964 P.
9. Nakano EH. Vvedenie v robototekhniku. M.: Mir. 1988. 334 s.