Title :
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
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;
Conference_Titel :
Nondestructive Evaluation/Testing (FENDT), 2014 IEEE Far East Forum on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4799-4731-7
DOI :
10.1109/FENDT.2014.6928251
