Motion Planning of Curved Surface for Automatic Ultrasonic Testing

doi:10.3901/JME.2022.24.041

Abstract

Abstract: Aeroengine blade is a typical complex surface. In order to realize automatic ultrasonic inspection on blades, an trajectory planning method based on surface point cloud data reconstruction was proposed for the automatic ultrasonic testing. Furthermore, an automatic scanning with seven-axis motion was realized the image this kind complex surface. The blade point cloud data are acquired using linear laser scan and two-axis motion. The surface contour equation is obtained by data fitting method, then acceleration and deceleration trajectory is planning based on the curve equation. An motion decomposition method including the six-axis manipulator and blade rotation axis is developed for each trace point. The actual inspection experiment shows that this path planning algorithm can obtain a clear C-scan image autocratically.

Key words: aeroengine blade, six-axis manipulator, trajectory planning, ultrasonic testing

CLC Number:

TB553

ZHAO Xinyu, LI Pengfei, DUAN Xiaomin, ZHANG Bin. Motion Planning of Curved Surface for Automatic Ultrasonic Testing[J]. Journal of Mechanical Engineering, 2022, 58(24): 41-48.

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