Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

scholarly journals Application of ultrasonic guided waves for non-destructive testing of large and complex geometry engineering structures

2017 ◽  
Vol 14 ◽  
pp. 87-90 ◽  
Author(s):  
Renaldas Raišutis ◽  
Rymantas Kažys ◽  
Liudas Mažeika ◽  
Egidijus Žukauskas ◽  
Reimondas Šliteris ◽  
...  
Keyword(s):  
Guided Waves ◽  
Complex Geometry ◽  
Ultrasonic Guided Waves ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Engineering Structures ◽  
Non Destructive

Ultrasonic non-destructive testing of pieces of complex geometry with a flexible phased array transducer

Ultrasonics ◽  
2000 ◽  
Vol 38 (1-8) ◽  
pp. 131-134 ◽  
Author(s):  
Sylvain Chatillon ◽  
Gérard Cattiaux ◽  
Marc Serre ◽  
Olivier Roy
Keyword(s):  
Phased Array ◽  
Complex Geometry ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Array Transducer ◽  
Non Destructive

Non destructive testing of works of art by terahertz analysis

2013 ◽  
Vol 64 (2) ◽  
pp. 21001 ◽  
Author(s):  
Jean-Luc Bodnar ◽  
Jean-Jacques Metayer ◽  
Kamel Mouhoubi ◽  
Vincent Detalle
Keyword(s):  
Non Destructive Testing ◽  
Destructive Testing ◽  
Works Of Art ◽  
Non Destructive

Modeling of a sensitive element on a planar mushroom-shaped metamaterial for non-destructive testing and searching for inhomogeneities in technological media

2020 ◽  
pp. 54-59
Author(s):  
A. A. Yelizarov ◽  
A. A. Skuridin ◽  
E. A. Zakirova
Keyword(s):  
Sensitive Element ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Resonant Frequency Shift ◽  
Maltese Cross ◽  
Informative Parameters ◽  
Non Destructive ◽  
Cross Type ◽  
Electrodynamic Structure ◽  
Electrophysical Parameters

A computer model and the results of a numerical experiment for a sensitive element on a planar mushroom-shaped metamaterial with cells of the “Maltese cross” type are presented. The proposed electrodynamic structure is shown to be applicable for nondestructive testing of geometric and electrophysical parameters of technological media, as well as searching for inhomogeneities in them. Resonant frequency shift and change of the attenuation coefficient value of the structure serve as informative parameters.

STUDY OF HOMOGENEITY, POROSITY AND INTERNAL DEFECTS IN AERATED AND EPS AGGREGATE POLY BRICKS USING NEUTRON RADIOGRAPHY TECHNIQUE

2015 ◽  
Vol 7 (2) ◽  
pp. 1428-1439
Author(s):  
Khurshed Alam ◽  
Md. Sayeedur Rahman ◽  
Md. Mostafizur Rahman ◽  
S. M. Azaharul Islam
Keyword(s):  
Optical Density ◽  
Neutron Radiography ◽  
Density Variation ◽  
Expanded Polystyrene ◽  
Elemental Distribution ◽  
Non Destructive Testing ◽  
Internal Defects ◽  
Destructive Testing ◽  
Radiographic Images ◽  
Non Destructive

A powerful non-destructive testing (NDT) technique is adopted to study the internal defects and elemental distribution/homogeneity and porosity of aerated brick and EPS aggregate poly brick samples. In the present study the internal defects like homogeneity, porosity, elemental distribution, EPS aggregate and aerator distributor in the test samples have been observed by the measurement of gray value/optical density of the neutron radiographic images of these samples. From this measurement it is found that the neutron intensity/optical density variation with the pixel distance of the AOI of the NR images in both expanded polystyrene (EPS) aggregate poly brick and aerated brick samples comply almost same in nature with respect to the whole AOI but individually each AOI shows different nature from one AOI to another and it confirms that the elemental distribution within a AOI is almost homogeneous. Finally it was concluded that homogeneity, elemental distribution in the EPS aggregate poly brick sample is better than that of the aerated brick sample. 

Non-Destructive Testing of Thermoplastic Carbon Composite Structures

2020 ◽  
Vol 2020 (1) ◽  
pp. 34-52
Author(s):  
Rafał Szymański
Keyword(s):  
Composite Structures ◽  
Ultrasonic Method ◽  
Composite Panel ◽  
Aviation Industry ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Pulse Technique ◽  
Thermoplastic Matrix ◽  
The Subject ◽  
Non Destructive

AbstractThe article is in line with the contemporary interests of companies from the aviation industry. It describes thermoplastic material and inspection techniques used in leading aviation companies. The subject matter of non-destructive testing currently used in aircraft inspections of composite structures is approximated and each of the methods used is briefly described. The characteristics of carbon preimpregnates in thermoplastic matrix are also presented, as well as types of thermoplastic materials and examples of their application in surface ship construction. The advantages, disadvantages and limitations for these materials are listed. The focus was put on the explanation of the ultrasonic method, which is the most commonly used method during the inspection of composite structures at the production and exploitation stage. Describing the ultrasonic method, the focus was put on echo pulse technique and the use of modern Phased Array heads. Incompatibilities most frequently occurring and detected in composite materials with thermosetting and thermoplastic matrix were listed and described. A thermoplastic flat composite panel made of carbon pre-impregnate in a high-temperature matrix (over 300°C), which was the subject of the study, was described. The results of non-destructive testing (ultrasonic method) of thermoplastic panel were presented and conclusions were drawn.

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