回转组合体超声自动检测中防碰撞研究
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摘要
为解决基于机械手的超声自动检测系统检测过程中碰撞问题,将超声检测系统分为碰撞体和静止体,并引入基于距离场的碰撞检测算法。结合检测机械手的运动学方程,在超声自动化检测系统虚拟环境中进行碰撞检测,实现了镁合金弹壳检测过程中对系统的防碰撞监测。通过对比不同扫描参数的检测实验,分析静止体与碰撞体最短距离的变化规律,实现镁合金弹壳的超声检测工艺优化;将近似距离场的改进算法与传统方法进行了对比实验。实验结果表明:改进算法使碰撞检测效率提升了80.62%,可满足镁合金壳体超声检测防碰撞的效率要求,且在关键位置可保证与传统距离场检测算法相同的精度。
In order to solve the collision in the detection process of robotic ultrasonic automatic detection system,the ultrasonic detection system is divided into collision and stationary bodies,and the collision detection algorithm based on the distance field is introduced. Based on the kinematics equation of robot,the collision detection is carried out in the virtual environment of the ultrasonic automatic detection system,and the anti-collision detection of the system during the detection process of magnesium alloy shell is realized. The variation law of the shortest distance between the stationary body and the collision body is analyzed by comparing the detected results of different scanning parameters,and the ultrasonic detection process optimization of magnesium alloy shell is realized. The experimental results show that the improved algorithm can improve the efficiency of collision detection by 80. 62%,which can meet the requirements of collision efficiency during ultrasonic testing of magnesium alloy shell and guarantee the same precision as the traditional distance field detection algorithm at the critical position.
In order to solve the collision in the detection process of robotic ultrasonic automatic detection system,the ultrasonic detection system is divided into collision and stationary bodies,and the collision detection algorithm based on the distance field is introduced. Based on the kinematics equation of robot,the collision detection is carried out in the virtual environment of the ultrasonic automatic detection system,and the anti-collision detection of the system during the detection process of magnesium alloy shell is realized. The variation law of the shortest distance between the stationary body and the collision body is analyzed by comparing the detected results of different scanning parameters,and the ultrasonic detection process optimization of magnesium alloy shell is realized. The experimental results show that the improved algorithm can improve the efficiency of collision detection by 80. 62%,which can meet the requirements of collision efficiency during ultrasonic testing of magnesium alloy shell and guarantee the same precision as the traditional distance field detection algorithm at the critical position.
引文
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[2]刘方芳.基于机械手的叶片扫查超声检测技术[D].北京:北京理工大学,2016.LIU Fang-fang.Ultrasonic testing technology for blades scaning based on robot[D].Beijing:Beijing Institute of Technology,2016.(in Chinese)
[3]Lu S,Chung J H,Velinsky S A.Human-robot collision detection and identification based on wrist and base force/torque sensors[C]∥Proceedings of IEEE International Conference on Robotics and Automation.Barcelona,Spain:IEEE,2005:3796-3801.
[4]陈琳,付兵,潘海鸿,等.一种适用于多机器人的动态包围体层次树碰撞检测算法[J].组合机床与自动化加工技术,2014(7):73-76.CHEN Lin,FU Bing,PAN Hai-hong,et al.A dynamic bounding volume hierarchy tree collision detection algorithm for multi-robot[J].Modular Machine Tool&Automatic Manufacturing Technique,2014(7):73-76.(in Chinese)
[5]Martínez-Salvador B,Pérez-Francisco M,Del Pobil A P.Collision detection between robot arms and people[J].Journal of Intelligent&Robotic Systems,2003,38(1):105-119.
[6]杨冬丽,徐正国,杨杰,等.相对密度对泡沫镁合金动态力学性能的影响[J].兵工学报,2013,34(10):1286-1290.YANG Dong-li,XU Zheng-guo,YANG Jie,et al.Effects of relative density of magnesium alloy foams on their dynamic mechanical properties[J].Acta Armamentarii,2013,34(10):1286-1290.(in Chinese)
[7]肖冰,康凤,胡传凯,等.国外轻质结构材料在国防工业中的应用[J].兵器材料科学与工程,2011,34(1):94-97.XIAO Bing,KANG Feng,HU Chuan-kai,et al.Application of the light structure material in the defense industry abroad[J].Ordnance Material Science and Engineering,2011,34(1):94-97.(in Chinese)
[8]肖定国,徐春广,王敬瑞,等.基于VC++的超声探伤仪发射端信号测量与处理系统[J].仪表技术与传感器,2013(4):13-15.XIAO Ding-guo,XU Chun-guang,WANG Jing-rui,et al.Ultrasonic flaw detector transmitter output signal measurement and processing system based on VC++[J].Instrument Technique and Sensor,2013(4):13-15.(in Chinese)
[9]Husty M L,Pfurner M,Schr9cker H P.A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator[J].Mechanism and machine theory,2007,42(1):66-81.
[10]于艳秋,王品,廖启征.一般6R机器人的位置反解与运动仿真[J].中国机械工程,2003,14(24):2130-2133.YU Yan-qiu,WANG Pin,LIAO Qi-zheng.Inverse kinematics analysis or general 6R serial robot and motion simulation[J].China Mechanical Engineering,2003,14(24):2130-2133.(in Chinese)
[11]Singh T P,Suresh P,Chandan S.Forward and inverse kinematic analysis of robotic manipulators[J].International Research Journal of Engineering and Technology,2017,4(2):1459-1469.
[12]王朋,武传宇,胡旭东.Staübli RX60机器人运动学求解[J].浙江理工大学学报,2005,22(3):245-249.WANG Peng,WU Chuan-yu,HU Xu-dong.Inverse kinematics solütion for Staübli robot manipulator[J].Journal of Zhejiang Institute of Science and Technology,2005,22(3):245-249.(in Chinese)
[13]赵国文,潘毓学,沈钟英,等.机器人运动学正解的新算法[J].兵工学报,1995,16(2):70-73.ZHAO Guo-wen,PAN Yu-xue,SHEN Zhong-ying,et al.A novel method of calculation of robotic movements[J].Acta Armamentarii,1995,16(2):70-73.(in Chinese)
[14]Fuhrmann A,Sobotka G,GroβC.Distance fields for rapid collision detection in physically based modeling[C]∥Proceedings of Graphi Con 2003.Moscow,Russia:Graphi Con Scientific Sociegy,2003:58-65.
[15]Xu H,Barbic J.6-Do F haptic rendering using continuous collision detection between points and signed distance fields[J].IEEE Transactions on Haptics,2017,10(2):151-161.
[16]Barclay J,Dhokia V,Nassehi A.Additive manufacturing simulation using signed distance fields[C]∥Proceedings of International Conference on Sustainable Design and Manufacturing.Berlin,Germany:Springer,2016:435-444.