Research On Carbon Fiber Reinforced Polymer Mobile Detection Robot System

Carbon Fiber Reinforced Polymer(CFRP)is an important part of aviation aircraft structural parts.Due to the complex internal structure of CFRP,there are many potential defects after long-term flight.If these defects are not discovered and repaired timely,it is harmful for flight safety.Mostly,infrared thermography non-destructive testing system is used to detect large-scale aircraft parts.At present,infrared thermography non-destructive detection is still done manually.Detective area is small when overhauling manually by traditional operation.Because of long detection time,the labor intensity is high and the quality of detection is poor.This project comes from the enterprise project: Development and integration of composite material automatic detection system.And it is required to realize fast,high-efficiency,digital,and automatic non-destructive testing of aircraft CFRP structural parts.To solve these problems,this paper develops a mobile detection robot system which carries infrared non-destructive detective equipment,and detects the lower surface of the aircraft outer wing or flat tail automatically.(1)Based on the D-H method,kinematics of the manipulator and effective workspace of the manipulator are solved.The moving path of the manipulator is planned according to the single valid detection area of the thermal imaging camera.(2)The frame of the omnidirectional mobile car is designed and the mechanical analysis is carried out according to the actual load.Calculation and selection of the wheel train,motors and reducers are completed.According to the characteristics of Mecanum wheel,kinematics and dynamics of the omni-directional mobile car are analyzed.And hardware and software of the car are designed.The neural network PID controller is proposed to realize the precise motor control of the mobile car.(3)Stability of mobile detection robot system is checked.The influence of movement of manipulator is analyzed.Force and torque suffered on the omni-directional mobile car are solved by theoretical mechanics.And stability of the mobile car is checked under extreme motion.Selection and reasonable layout of the sensor are done based on safety requirement.(4)Some related functional non-destructive testing experiments are established with mobile detection robot system.Ethernet and modbus are used to order the manipulator system,the omni-directional mobile car system and the infrared non-destructive testing system.Components of mobile detection robot system are processed and assembled.And finally the main functional experiments of all modules are completed.