摘要
分析了探头调整时脉冲回波信号的变化特点,在实验的基础上构建了声束入射角与表面波时域特征值间的关系模型。根据机械手调整前后的两个入射角解算出转动关节需要偏转的角度,然后逆解运动方程获取检测机械手在测量点处的运动点位值,最后调整探头位姿后并根据反馈回的对正误差来决定是否需要进行下一轮调整。在五自由度超声检测机器人上进行的大量试验表明,该方法在提高对正精度的同时,大幅度地缩短了超声测距的时间。
Using the characteristics of pulse echo singal during the probe adjustment, a relation model between angle of incidence and time-domain eigenvalue of reflect wave signals was proposed. Angles between cradle heads and normal direction of survey point could be figured out according to two associated angles of incidence. Position and posture values of mechanical arm at the survey point were obtained by solving motion equation. The feedback error of alignment determined another adjustment course was needed or not. Lots of experiments based on 5-axis ultrasonic inspection robot show that the method can meet the accuracy requirements, at the same time it increases the efficiency of the ultrasonic survey greatly.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2008年第11期1289-1292,共4页
China Mechanical Engineering
关键词
曲面工件
超声测量
自动对正
入射角
curved component
ultrasonic survey
auto-alignment
angle of incidence
