发明名称 |
Automated inspection of spar web in hollow monolithic structure |
摘要 |
<p>A computer-controlled robotic platform with a collapsible lifting arm that positions a non-destructive inspection (NDI) sensor for scanning inside tunnel regions of a composite structure such as an integrally stiffened wing box. The lifting arm of a modified scissor lift mechanism can be collapsed to a very low height to pass through narrow sections of the integrally stiffened wing box, and also extended by more than a factor of three to reach the maximum height of the wing box tunnels. The system performs a vertical position sensing and control process that uses inverse kinematics to enable position control using data from a standard rotational encoder on the motor to determine vertical position. The system produces simulated encoder pulses that represent unit vertical displacements of a distal portion of a modified scissor lift mechanism using a forward kinematics equation in which the rotation angle of a lead screw is an input variable.</p> |
申请公布号 |
EP2662689(A2) |
申请公布日期 |
2013.11.13 |
申请号 |
EP20130167345 |
申请日期 |
2013.05.10 |
申请人 |
THE BOEING COMPANY |
发明人 |
GARVEY, JEFFRY J;KENNEDY, JAMES C;TROY, JAMES J |
分类号 |
G01N29/22;B66F7/06 |
主分类号 |
G01N29/22 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|