Motion point calculation method for robortic Ultrasonic Nondestructive Testing

摘要

The application of industrial robot technology to ultrasonic non-destructive testing technology can meet the requirements of high efficiency and high precision in the nondestructive testing process. The trajectory planning method and the calculation method of the motion point in robotic manipulator motion control technology are of great significance in automatic NDT. In this paper, the Staubli manipulator product is taken as the object. For the two cases in which the manipulator grips the workpiece and the manipulator grips the ultrasonic transducer in the ultrasonic detection process, the calculation methods of the corresponding motion points are respectively proposed and the correctness of the method was verified by ultrasonic nondestructive testing.