Tool Frame Calibration for Robot-Assisted Ultrasonic Testing
Author:
Zhang Hanming1ORCID, Wang Jingpin1, Guo Canzhi2
Affiliation:
1. School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100041, China 2. School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
Abstract
Tool frame calibration has been widely used in robot-assisted printing, welding, and grinding, but it is not suitable for ultrasonic testing because the robot is submerged in water. The purpose of this paper is to present a tool frame calibration method, which is suitable for improving the precision of ultrasonic testing. In uniform mediums, sound travels along a straight line like ray. A reflector is fixed in water to reflect ultrasound, which makes it possible to measure distances between incidence points on a reflector and tool center point (TCP) on an ultrasound transducer. In addition, the positions and poses of the end flange are recorded through a robot controller. Finally, an optimization method is applied to calculate the position and pose errors of the tool frame relative to the end flange according to such records. The presented method was implemented in an ultrasonic testing system. We selected 100 incidence points on the reflector to calculate the assembly errors of the transducer. The pulse amplitude rose obviously after calibration, which verifies that this is an effective method. Considering that ultrasonic transducers can be used as a measuring tool, this paper proposes a tool frame calibration method for ultrasonic testing robots without introducing other measuring devices, which draws the conclusion that tool frame can be calibrated through ultrasound.
Funder
Research Start-up Fund of North China University of Technology Innovation and entrepreneurship training program for college students
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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