超声检测系统的曲面路径规划技术

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• 英文论文题名：The trajectory planning technology of the curved surface in the ultrasonic testing system
• 论文作者：马骥 ; 毛捷 ; 宋波 ; 廉国选
• 英文论文作者：MA Ji ; MAO Jie ; SONG Bo ; LIAN Guo-xuan ; Institue of Acoustics ; Chinese Academy of Sciences
• 年：2016
• 作者机构：中国科学院声学研究所;
• 论文关键词：机械臂 ; 路径规划 ; 超声检测
• 英文论文关键词：manipulator ; trajectory planning ; ultrasonic testing
• 会议召开时间：2016-10-28
• 会议录名称：2016年全国声学学术会议论文集
• 语种：中文
• 分类号：TB553
• 学会代码：OGSM
• 会议名称：2016年全国声学学术会议
• 会议地点：中国湖北武汉
• 主办单位：中国声学学会
• 学会名称：中国声学学会
• 页数：3
• 文件大小：366k
• 原文格式：D
• 会议级别：全国

摘要

复杂曲面工件的自动超声检测技术一直是无损检测领域的关注热点。本文针对曲面工件的自动超声检测系统,研究了基于机械臂运动的路径规划技术。结合超声测距法和三次样条插值函数,阐述了曲面工件的建模与机械臂位置姿态调整方法,并通过机械臂超声检测系统扫查柱面样品,验证了其可行性,提高了自动超声检测系统的适应性。
The Automatic ultrasonic testing for complex curved surface of the workpiece has been concerned about the field of non-destructive testing. In this paper, the ultrasonic testing system for the curved surface of workpiece is focused, the technology of trajectory planning based on the motion of the manipulator is studied. The ultrasonic distance measurement and the function of cubic spline interpolation are combined in the method. The methods of modeling the curved surface and adjusting the manipulator's position and attitude are elaborated. The Cylinder sample is detected by the ultrasonic testing system to support the opinion above. The automatic ultrasonic testing system can be improved by the technology.

引文

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