Abstract
The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method. The shortest distance rule is adopted to optimize the inverse kinematics solutions. The best joint-angle solution is identified. Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot. Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface. The developed robot ultrasonic testing system is validated. The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing.
Highlights
Ultrasonic testing as an important nondestructive inspection method is adopted in numerous applications to test the internal defects of composite materials with simple structures
The joint robot with six degrees of freedom (DOF) can reach any position and orientation in its operating range; the inspection problem can be solved by combining this joint robot with ultrasonic testing technology [1]
In such an automatic ultrasonic testing system, optimization and simulation of the inspection path are important so that the robot that scans these complex structures can be operated according to reasonable tracks
Summary
Ultrasonic testing as an important nondestructive inspection method is adopted in numerous applications to test the internal defects of composite materials with simple structures. The joint robot with six degrees of freedom (DOF) can reach any position and orientation in its operating range; the inspection problem can be solved by combining this joint robot with ultrasonic testing technology [1] In such an automatic ultrasonic testing system, optimization and simulation of the inspection path are important so that the robot that scans these complex structures can be operated according to reasonable tracks. Wang et al [13] provided a preliminary inverse kinematics method for the Staubli robot This method cannot explain the optimization of these solutions. Journal of Robotics on the feature that the subsequent three joint axes intersect at one point, the arm-wrist separateness method is adopted in Section 2 to solve the inverse kinematics of the robot. A 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces.
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