Industrial robot-based system design of thickness scanning measurement using ultrasonic
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Published:2021-05-12
Issue:1
Volume:12
Page:479-486
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ISSN:2191-916X
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Container-title:Mechanical Sciences
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language:en
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Short-container-title:Mech. Sci.
Author:
Liu Haibo, Liu Baoliang, Lian MengORCID, Li Pingping, Liu Tianran, Li Te, Wang Yongqing
Abstract
Abstract. Wall thickness is one of the core indicators for measuring the quality of large thin-walled parts such as rocket siding and
aircraft skin. However, the traditional handheld thickness measurement method has high labor intensity, low efficiency and poor accuracy
consistency. Therefore, an in situ ultrasonic automatic scanning thickness measurement method for large thin-walled parts based on industrial robots is proposed. This “industrial robot + ultrasound” integrated function is a
compact system, and a set of innovative methodological or technical solutions is presented, such as (i) TCP and UDP communication protocols being constructed to realize a high-speed and stable communication relationship
between the upper computer, robot motion controller and ultrasonic thickness measurement unit; (ii) a coupling gap adjustment method based on eddy-current sensors being adopted to ensure the adaptability of the ultrasonic probe to surface topography of the measured part during scanning
measurement; and (iii) a multi-sensor coordinate unified model and coupling gap state discrimination model being established for robot-aided thickness
measurement. To verify the feasibility of the proposed method, a series of
calibrations and experiments were designed based on the KUKA robot platform and the developed ultrasonic pulse measurement system. Finally, the industrial
robot-based ultrasonic thickness scanning measurement has been built and tested for performing the measurement of a rocket tank wall.
Funder
National Major Science and Technology Projects of China National Natural Science Foundation of China Fundamental Research Funds for Central Universities of the Central South University Changjiang Scholar Program of Chinese Ministry of Education
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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