Kinematics Modeling on CFRP Curved Part Ultrasonic Test
Aimed at inner flaw in CFRP（carbon fiber reinforced plastic）curved part, build the ultrasonic test technological process. Based on five-freedom CFRP curved part robot, the mechanics structure model is set up. And then, by basic principle of robot kinematics, the kinematics equation of five-freedom ultrasonic test system is derived. Finally, through solving the direct root and converse root, the mathematics relation expression between the movement variable of servo motors and ultrasonic probe coordinate is obtained.
Wenya Tian and Linli Xu
L. Li et al., "Kinematics Modeling on CFRP Curved Part Ultrasonic Test", Advanced Materials Research, Vol. 186, pp. 136-140, 2011