Robots allow to measure 3D images using computed tomography and robosynthesis. Robosytesis is a combination of different computed tomography methods that are applied based on the needs of the resulting image in relation to the size, shape and other parameters of the scanned sample. Commonly used methods in X-ray inspection usually have limited applicability in terms of size or shape of the object. ROBOTS EXCEED THIS LIMIT. The robotic system can also be equipped with a seventh axis (rails) and thus extend the reach of the robotic arm almost without limit.

For example, air-coupled ultrasound or Laser Excited Acoustics (LEA) is particularly effective for detecting delaminations in composite materials virtually invisible by X-rays. A good example is a damaged composite wing of an aircraft after hitting a foreign object. The X-ray image reveals the structure of the composite and its possible damage by fine cracks at the point of impact. However, delamination in the surrounding area cannot be detected by X-ray. Ultrasound is suitable for detecting delamination but does not allow high-resolution imaging of fine cracks.
THE SOLUTION IS A COMBINATION OF BOTH METHODS.

The Robotic Imaging System is equipped with laser distance measurement as standard. It is used by the system to map the shape of the sample before measuring. This information is used to navigate the robots around the sample to avoid collisions. It can also be used to automatically control the trajectory of movement of the robots so that, for example, they maintain a constant distance from the surface and the angle to it. This can be seen i.e. on a curved honeycomb sample, where all honeycomb cells are displayed perpendicularly. In the case of contact methods, robotic arms are also able to maintain a constant pressure on the surface of the sample.

The flexibility of robot allows also focusing X-ray images to different depth. We introduce different tomosynthesis scan trajectories to resolve depth information when the accessibility is limited. The resulting images have correct absolute dimensions at all object depth slices. Due to the limited range of angles, the depth resolution is not as good as in the case of full CT. Therefore, we rather describe the method as a way to ‘focus the X-ray image to a selected depth’. The full depth data is measured in one scan, and the focused depth is selected easily in the visualization.
THIS CAN BE DONE ON AIRCRAFT!

The laser profiler is an imaging tool that provides precise information on scanned object outer shape with precision down to about 30 µm in depth. This tool can be used directly to analyse precision of manufactured parts including their surface structure. The profiler measurements as well as measurements with the other imaging tools are all recorded in the same coordinate space. Therefore, the laser profiler data can also serve as source of outer boundary conditions to improve results of the computed-tomography reconstructions. The profiler uses the quick-mount onto the robot for a quick change of the imaging modalities.