TY - JOUR
T1 - A new method for motion stability improving of dual-robotic ultrasonic nondestructive testing system
AU - Guo, Canzhi
AU - Xu, Chunguang
AU - Cheng, Guanggui
AU - Wang, Xiaodong
AU - Ding, Jianning
N1 - Publisher Copyright:
© IMechE 2024.
PY - 2024/9
Y1 - 2024/9
N2 - The dual-robotic ultrasonic nondestructive testing (NDT) system equipped with extension arm is an effective means to realize automatic ultrasonic testing of composite semi-enclosed workpieces. However, this cantilever structure amplifies the tiny vibrations of the inspection system, which seriously affects the coupling effect and the resolution of ultrasonic inspection. To solve the problem, this paper proposes a S-shaped acceleration and deceleration feature control algorithm to improve the motion stability and further to improve the inspection resolution of dual-robotic ultrasonic NDT system. Furthermore, the specific steps of S-shaped acceleration and deceleration features control algorithm in trajectory planning of the dual-robotic ultrasonic NDT system are described in detail. Comparative experiments of motion stability show that the acceleration in the x direction at the left and right ends of the detection area decreased significantly, from 0.15 to 0.08 m/s2 and the ultrasonic image of the internal defects have a higher resolution and smoother edges. The improvement plays an important role in promoting the resolution at the left and right ends of the detection area.
AB - The dual-robotic ultrasonic nondestructive testing (NDT) system equipped with extension arm is an effective means to realize automatic ultrasonic testing of composite semi-enclosed workpieces. However, this cantilever structure amplifies the tiny vibrations of the inspection system, which seriously affects the coupling effect and the resolution of ultrasonic inspection. To solve the problem, this paper proposes a S-shaped acceleration and deceleration feature control algorithm to improve the motion stability and further to improve the inspection resolution of dual-robotic ultrasonic NDT system. Furthermore, the specific steps of S-shaped acceleration and deceleration features control algorithm in trajectory planning of the dual-robotic ultrasonic NDT system are described in detail. Comparative experiments of motion stability show that the acceleration in the x direction at the left and right ends of the detection area decreased significantly, from 0.15 to 0.08 m/s2 and the ultrasonic image of the internal defects have a higher resolution and smoother edges. The improvement plays an important role in promoting the resolution at the left and right ends of the detection area.
KW - composite parts testing
KW - Nondestructive testing
KW - robotic assisted NDT
KW - trajectory planning
KW - ultrasonic testing
UR - http://www.scopus.com/inward/record.url?scp=85194823960&partnerID=8YFLogxK
U2 - 10.1177/09544062241253971
DO - 10.1177/09544062241253971
M3 - Article
AN - SCOPUS:85194823960
SN - 0954-4062
VL - 238
SP - 9153
EP - 9164
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 18
ER -