超声检测机械手的研制
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摘要
无损检测自动化设备是无损检测领域的发展方向之一，目前，尽管在这方面取得了不少成就，但仍不能够满足实际工作的需要，在检测数字化、可靠性、重复性以及检测人员劳动强度等方面存在不足。本文针对上述情况将无损检测技术与机器人技术结合起来，进行了超声波检测机械手的研制。
在对超声波检测的特点和机器人进行分析的基础上，确定了四自由度关节型检测机械手的研究方案，进行了机构设计和传动系统设计，建立了超声波检测机械手的运动学模型，并根据各关节运动参数，对机械手位置和姿态的正运动学方程进行求解。另外，在给定相关的位置和姿态参数的情况下，对各关节运动参数的逆运动学方程进行求解。为超声检测时探头的定位以及运动路径的规划奠定了理论基础。
该超声波检测机械手控制与检测系统是以PC机为核心，借助于PMAC运动控制卡驱动四个步进电机，实现自动控制，同时获取安装在四个关节的相对式光电编码器的转角信号，求取探头所在的坐标位置。
系统软件是基于机械手运动学原理建立的机械手运动学位姿方程，采用VC++在windows 平台进行开发的。
本文提出并开发的超声波检测机械手，对提高超声检测的效率、精度和可靠性、减轻工人的劳动强度均具有实际意义。
The NDT automatization is one of development trend in the ultrasonic testing field. Though, some accomplishments have been obtained, they cannot satisfy the needs of practice application. There are some questions in inspecting digital extent, reliability, repeatability and checker’s working intensity etc. A manipulator for ultrasonic testing is developed by means of ultrasonic testing and robotic technology.
Based on analyzing features of ultrasonic testing and structural of manipulator, the research project of four-joint manipulator is decided, and the mechanical system of manipulator has been developed. Then based on its structural analyses, kinematics model of the manipulator has been built. According to motion parameters of joints, the forward kinematics equation is resolved. In addition, according to the given position and attitude parameters, the backward kinematics equation is resolved. These establish foundation for orientation and path layout of ultrasonic probe.
The control and inspection system of this manipulator is based on PC and controlled by PMAC. At the same time, the output of photoelectric encoder fixed the joints of manipulator is also processed by PMAC. The system uses the four photoelectric encoder to measuring rotating angle of four joints in order to calculate position of probe.
By mean of VC++ language, the system software is developed based on kinematics model of the manipulator.
This paper has presented and developed the manipulator of ultrasonic testing. It is important to improve efficiency, precision, reliability and alleviate working intensity of checker.
在对超声波检测的特点和机器人进行分析的基础上，确定了四自由度关节型检测机械手的研究方案，进行了机构设计和传动系统设计，建立了超声波检测机械手的运动学模型，并根据各关节运动参数，对机械手位置和姿态的正运动学方程进行求解。另外，在给定相关的位置和姿态参数的情况下，对各关节运动参数的逆运动学方程进行求解。为超声检测时探头的定位以及运动路径的规划奠定了理论基础。
该超声波检测机械手控制与检测系统是以PC机为核心，借助于PMAC运动控制卡驱动四个步进电机，实现自动控制，同时获取安装在四个关节的相对式光电编码器的转角信号，求取探头所在的坐标位置。
系统软件是基于机械手运动学原理建立的机械手运动学位姿方程，采用VC++在windows 平台进行开发的。
本文提出并开发的超声波检测机械手，对提高超声检测的效率、精度和可靠性、减轻工人的劳动强度均具有实际意义。
The NDT automatization is one of development trend in the ultrasonic testing field. Though, some accomplishments have been obtained, they cannot satisfy the needs of practice application. There are some questions in inspecting digital extent, reliability, repeatability and checker’s working intensity etc. A manipulator for ultrasonic testing is developed by means of ultrasonic testing and robotic technology.
Based on analyzing features of ultrasonic testing and structural of manipulator, the research project of four-joint manipulator is decided, and the mechanical system of manipulator has been developed. Then based on its structural analyses, kinematics model of the manipulator has been built. According to motion parameters of joints, the forward kinematics equation is resolved. In addition, according to the given position and attitude parameters, the backward kinematics equation is resolved. These establish foundation for orientation and path layout of ultrasonic probe.
The control and inspection system of this manipulator is based on PC and controlled by PMAC. At the same time, the output of photoelectric encoder fixed the joints of manipulator is also processed by PMAC. The system uses the four photoelectric encoder to measuring rotating angle of four joints in order to calculate position of probe.
By mean of VC++ language, the system software is developed based on kinematics model of the manipulator.
This paper has presented and developed the manipulator of ultrasonic testing. It is important to improve efficiency, precision, reliability and alleviate working intensity of checker.
引文
[1] 张铁,等.机器人学.华南理工大学出版社, 2001
[2] 耿荣生.新千年的无损检测技术—从罗马会议看无损检测技术的发展方向.无损检测, 2001,23(1)
[3] 郭成彬.国内外无损检测现状和展望.无损检测, 1995
[4] 李喜孟.无损检测.机械工业出版社,2001
[5] 胡 超.无损检测中的机器人技术.机电工程,1999.139(140
[6] 国家563计划智能机器人专家组编.机器人博览. 中国科学技术出版社,2001
[7] 北京元茂兴控制设备有限责任公司.PMAC用户手册,版本1.1
[8] 蔡自兴.机器人学.清华大学出版社,2000
[9] 王田茂, 等.机电控制基础理论和应用.清华大学出版社,2003
[10] 项占琴,等.现代机电产品设计.浙江大学出版社,2002
[11] 季维发,等.机电一体化.机械工业出版社，1998，10
[12] 朱龙根.机械简明设计设计手册.机械工业出版社,2003
[13] 杨春杰. 新型多关节式机械手臂的机构设计.黄石高等专科学校,2001,17(1)
[14] 姜培刚,等.机电一体化系统设计.机械工业出版社,2003
[15] 张旭辉,等.管道对接焊缝自动超声检测系统的研制:[硕士论文]. 西安:西安科技大学,2002
[16] 刘敏杰,等. 3-6Stewart平台机械手运动学正问题的解析方法.上海交通大学学报,2000,34(3)
[17] 张戎军.基于传感器的柔性机械手控制研究:[博士后工作报告].北京：清华大学计算机系,1996
[18] 杨春杰,等. R 3 P 型机器人的运动分析. 黄石高等专科学校,2002,18(2)
[19] 王艳颖,等.自由曲面超声波检测机器人运动学分析.机电工程,2001.71(74
[20] 李相伟.柔性机械手控制研究:[学位论文].武汉:华中师范大学电子计算机研究所,1997
[21] 同志工作室.VISUAL C++6.0开发技巧与实例教程.人民邮电出版社,2000
[22] 许福，等.Visual C++程序设计技巧与实例.中国铁道出版社,2003
[23] 张戎军. 柔性机械手数据采集与处理系统. 微计算机信息,1997
[24] 李相伟,等.角位移传感器信号处理电路设计.中山大学学报,1998
[25] 费仁元,等.机器人机械设计及分析 北京工业大学出版社 1998，98
[26] 陈哲,等.机器人技术基础. 机械工业出版社,1997
[27] 熊有伦,等.机器人学.机械工业出版社,1998
[28] Dirauf.Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station.http://www.NDT.net,Oct. 1998, Vol.3,No.10
[29] Fallon, J. Barry, Shooter, Steven B., and Reinholtz, Charles, “Design of an Underwater Robot for Nuclear Reactor Vessel Inspection,” Robotics for Challenging Environments, ASCE Press, New York, 1996 pp. 311-319
[30] Roman, Harry T., Robotic applications in PSE&G’s nuclear and Fossil power plants, IEEE Transactions on Energy Conversion, Sep. 1993, Vol 8, No. 3 pp. 584-592
[31] F. Dirauf, G. Guse, E. Fischer, G. Engl, Siemens-KWU Erlangen, Germany “Advanced Approach for BWR RPV ISI Using Robotics and Phased Array Techniques” First International Conference on NDE in Relation to Structural Integrity for Nuclear and Pressurised Components , 20 - 22 October 1998
[32] J. Larsen, H. Kristensen, L. Jeppesen - FORCE Inst., Denmark. “Examination of Core Shroud Welds” 7th European Conference on Non-Destructive Testing, 26-29 May 1998,ISBN: 87-986898-0-00
[33] L. Vesth, P.B. Hansen, W. Damgaard Kristensen - FORCE Inst., Denmark. “Robot System for Ultrasonic Examination of Complex Geometries” 7th European Conference on Non-Destructive Testing, 26-29 May 1998
[34] D. J. Cotter, T. E. Michaels, J. E. Michaels, D. Kass, M. E. Stanton, I. V. Kosenko, and F. H. C. Hotchkiss, " Low-Frequency Ultrasonic Imaging of Composite Structures with Squirter-Based Water-Coupled and Air-Coupled Transducers", Proceedings of the 45th International SAMPE Symposium, SAMPE, May, 2000
[35] J. E. Michaels and T. E. Michaels, " Requirements and Capabilities of Automated Ultrasonic Systems for Inspection of Curved Parts", Proceedings of the 6th European Conference on Nondestructive Testing, Nice, France, October, 1994
[36] Dirauf,F,Gohlke,B.Fischer,E, ”Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station”http://www.NDT.net ,Oct. 1998, Vol.3,No.10
[37] Dirauf,F,Gohlke,B.Fischer,E, ”Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station”http://www.NDT.net ,Oct. 1998, Vol.3,No.10
[38] J. Larsen, L. Vesth, L. Jeppesen “VT Examination of BWR Re-Circulation Pump Internals” FORCE Institute, Park August 1998, Vol.3 No 8
[2] 耿荣生.新千年的无损检测技术—从罗马会议看无损检测技术的发展方向.无损检测, 2001,23(1)
[3] 郭成彬.国内外无损检测现状和展望.无损检测, 1995
[4] 李喜孟.无损检测.机械工业出版社,2001
[5] 胡 超.无损检测中的机器人技术.机电工程,1999.139(140
[6] 国家563计划智能机器人专家组编.机器人博览. 中国科学技术出版社,2001
[7] 北京元茂兴控制设备有限责任公司.PMAC用户手册,版本1.1
[8] 蔡自兴.机器人学.清华大学出版社,2000
[9] 王田茂, 等.机电控制基础理论和应用.清华大学出版社,2003
[10] 项占琴,等.现代机电产品设计.浙江大学出版社,2002
[11] 季维发,等.机电一体化.机械工业出版社，1998，10
[12] 朱龙根.机械简明设计设计手册.机械工业出版社,2003
[13] 杨春杰. 新型多关节式机械手臂的机构设计.黄石高等专科学校,2001,17(1)
[14] 姜培刚,等.机电一体化系统设计.机械工业出版社,2003
[15] 张旭辉,等.管道对接焊缝自动超声检测系统的研制:[硕士论文]. 西安:西安科技大学,2002
[16] 刘敏杰,等. 3-6Stewart平台机械手运动学正问题的解析方法.上海交通大学学报,2000,34(3)
[17] 张戎军.基于传感器的柔性机械手控制研究:[博士后工作报告].北京：清华大学计算机系,1996
[18] 杨春杰,等. R 3 P 型机器人的运动分析. 黄石高等专科学校,2002,18(2)
[19] 王艳颖,等.自由曲面超声波检测机器人运动学分析.机电工程,2001.71(74
[20] 李相伟.柔性机械手控制研究:[学位论文].武汉:华中师范大学电子计算机研究所,1997
[21] 同志工作室.VISUAL C++6.0开发技巧与实例教程.人民邮电出版社,2000
[22] 许福，等.Visual C++程序设计技巧与实例.中国铁道出版社,2003
[23] 张戎军. 柔性机械手数据采集与处理系统. 微计算机信息,1997
[24] 李相伟,等.角位移传感器信号处理电路设计.中山大学学报,1998
[25] 费仁元,等.机器人机械设计及分析 北京工业大学出版社 1998，98
[26] 陈哲,等.机器人技术基础. 机械工业出版社,1997
[27] 熊有伦,等.机器人学.机械工业出版社,1998
[28] Dirauf.Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station.http://www.NDT.net,Oct. 1998, Vol.3,No.10
[29] Fallon, J. Barry, Shooter, Steven B., and Reinholtz, Charles, “Design of an Underwater Robot for Nuclear Reactor Vessel Inspection,” Robotics for Challenging Environments, ASCE Press, New York, 1996 pp. 311-319
[30] Roman, Harry T., Robotic applications in PSE&G’s nuclear and Fossil power plants, IEEE Transactions on Energy Conversion, Sep. 1993, Vol 8, No. 3 pp. 584-592
[31] F. Dirauf, G. Guse, E. Fischer, G. Engl, Siemens-KWU Erlangen, Germany “Advanced Approach for BWR RPV ISI Using Robotics and Phased Array Techniques” First International Conference on NDE in Relation to Structural Integrity for Nuclear and Pressurised Components , 20 - 22 October 1998
[32] J. Larsen, H. Kristensen, L. Jeppesen - FORCE Inst., Denmark. “Examination of Core Shroud Welds” 7th European Conference on Non-Destructive Testing, 26-29 May 1998,ISBN: 87-986898-0-00
[33] L. Vesth, P.B. Hansen, W. Damgaard Kristensen - FORCE Inst., Denmark. “Robot System for Ultrasonic Examination of Complex Geometries” 7th European Conference on Non-Destructive Testing, 26-29 May 1998
[34] D. J. Cotter, T. E. Michaels, J. E. Michaels, D. Kass, M. E. Stanton, I. V. Kosenko, and F. H. C. Hotchkiss, " Low-Frequency Ultrasonic Imaging of Composite Structures with Squirter-Based Water-Coupled and Air-Coupled Transducers", Proceedings of the 45th International SAMPE Symposium, SAMPE, May, 2000
[35] J. E. Michaels and T. E. Michaels, " Requirements and Capabilities of Automated Ultrasonic Systems for Inspection of Curved Parts", Proceedings of the 6th European Conference on Nondestructive Testing, Nice, France, October, 1994
[36] Dirauf,F,Gohlke,B.Fischer,E, ”Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station”http://www.NDT.net ,Oct. 1998, Vol.3,No.10
[37] Dirauf,F,Gohlke,B.Fischer,E, ”Innovative Robotics and Ultrasonic technology at the Examination of Reactor Fpressure Vessel in BWR and PWR Nuclear power station”http://www.NDT.net ,Oct. 1998, Vol.3,No.10
[38] J. Larsen, L. Vesth, L. Jeppesen “VT Examination of BWR Re-Circulation Pump Internals” FORCE Institute, Park August 1998, Vol.3 No 8