JOINED AUTOMATIC MATERIAL EVALUATION SYSTEMand MOBILE AUTOMATIC INSPECTION DEVICE

这里提交的主要研究仪器项目提案涉及自动无损材料测试，并包括一个移动机器人系统，该系统可以使用气垫灵活地放置在房间里。借助于第二个同步机器人，还可以在传动中对复杂和大型零部件进行测量。通过激光跟踪系统，这两个机器人在房间里的位置都是准确的。该系统提供了一个研究平台，以调查机器人系统对众多测试程序和方法途径的影响及其测试可靠性。该系统最初是为机载超声波检测而设计的，但将扩展到包括常规超声波检测、主动热成像、涡流检测、光学剪切成像和振动分析。除了优化检测硬件外，扫描系统本身也是无损部件检测的重要因素。扫描系统的机器人路径可以直接手动编程，以便自动使用重复的部件检查。在进一步的步骤中，可以通过直接在计算机上进行路径规划来进一步优化。待检测零件的CAD数据可以直接加载到程序环境中，从而可以预先模拟机器人的路径。自动检测过程优化的最后一步是使用安装在机器人臂上的光学扫描仪(例如条光投影)独立获取部件几何形状。在此数据的帮助下，可以完全自动创建扫描图案并将其放置在元件几何形状上。将工具更换为非破坏性测试工具可以实现完全自动的部件测试，而无需手动“示教”机器人路径的中间步骤。这导致计划项目的不同自动化程度的以下三种分类：a)半自动(人工示教机器人)，b)全自动(根据CAD数据在计算机上创建路径规划)和c)智能机器人系统(使用视觉检查的自动路径规划)。研究问题还分为以下测试具体问题：1)缺陷检测，2)材料表征，3)测试陈述的可靠性，主要关注塑料、复合材料和混合组件等材料。该设备由斯图加特大学、塑料技术研究所、飞机制造研究所、材料测试研究所和印度科学技术研究所的四个主要用户使用，并将智能传感器技术和理论电气工程用于合作研究目的，并计划进一步的外部合作伙伴进行研究合作。

The major research instrumentation project proposal submitted here addresses automated non-destructive material testing and includes a mobile robot system that can be flexibly positioned in the room using air cushions. By means of a second synchronized robot, measurements on complex and large components can also be carried out in transmission. The position of both robots in the room is precisely known via a laser tracking system. The system offers a research platform to investigate the influence of robot systems on the numerous test procedures and method approaches and their test reliability. The system is initially designed for airborne ultrasonic testing, but will be expanded to include conventional ultrasonic testing, active thermography, eddy current testing, optical shearography and vibration analysis.In addition to optimizing the inspection hardware, the scanning system itself is an important factor in non-destructive component inspection. The robot path of the scanning system can be programmed directly by hand for the automated use of a repetitive component inspection. In a further step, further optimization is possible through path planning directly on the computer. The CAD data of the component to be inspected can be loaded directly into a program environment and the robot path can thus be simulated in advance. The last step in the optimization of the automated inspection process is the independent acquisition of the component geometry using an optical scanner attached to the robot arm (e.g. strip light projection). With the help of this data, a scan pattern can be created fully automatically and placed on the component geometry. A tool change to a non-destructive testing tool enables fully automatic component testing without the intermediate step of manually "teaching" the robot paths. This results in the following three classifications of the different degrees of automation for the planned projects: a) semi-automatic (robot is taught in manually), b) fully automatic (path planning is created on the computer from CAD data) and c) intelligent robot system (automated path planning using visual inspection). The research questions are also divided into the following test specific questions: 1) defect detection, 2) material characterization and 3) reliability of the test statement, which focuses primarily on materials such as plastics, composites and hybrid components. The device is used by four main users of the University of Stuttgart, the Institute of Plastics Technology, the Institute of Aircraft Construction, the Materials Testing Institute, and the Institute ofIntelligent sensor technology and theoretical electrical engineering are used for cooperative research purposes, and further external partners are planned for research cooperations.