Kinematic analysis and simulation of ultrasonic testing manipulator

Author

Xinliang Li ; Xinyu Zhao ; Juan Hao ; Zongxing Lu ; Ye Huang ; Liu Yang

Author_Institution

Sch. of Mech. Eng., Beijing Inst. of Technol., Beijing, China

fYear

2014

fDate

20-23 June 2014

Firstpage

148

Lastpage

152

Abstract

Ultrasonic testing for these workpieces with complex shapes is still a challenge in NDT filed. In order to address this problem, this paper provide an effective solution for curved surface scanning using Staubli TX90XL manipulator with six freedom degrees. Here an arm-wrist separateness method is adopted to solve the inverse of manipulator and a shortest distance rule is used to optimize the inverse solutions. Furthermore, we have developed a 3D application software to simulate the ultrasonic trajectory planning for complex shape specimens. Finally, the validity of this scanning method is verified by the C-scan results of the specimen with a curved surface.

Keywords

manipulator kinematics; optimisation; ultrasonic materials testing; 3D application software; C-scan results; NDT filed; Staubli TX90XL manipulator; arm-wrist separateness method; complex shape specimens; complex shapes; curved surface scanning; curved surface specimen; distance rule; freedom degrees; inverse solution optimization; kinematic analysis; manipulator inverse; scanning method; ultrasonic testing manipulator simulation; ultrasonic trajectory planning; workpieces; Acoustics; Joints; Kinematics; Manipulators; Shape; Testing; Trajectory; kinematic analysis; kinematic simulation; ulrasonic testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Nondestructive Evaluation/Testing (FENDT), 2014 IEEE Far East Forum on

Conference_Location

Chengdu

Print_ISBN

978-1-4799-4731-7

Type

conf

DOI

10.1109/FENDT.2014.6928251

Filename

6928251