Off-line scan path planning for robotic NDT
Off-line scan path planning for robotic NDT
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DOI：
10.1016/j.measurement.2018.02.020
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发表时间：
2018-07-01
期刊：
影响因子：
5.6
通讯作者：
Summan, R.
中科院分区：
文献类型：
--
作者：
Morozov, M.;Pierce, S. G.;Summan, R.
这项工作提出了计算机辅助扫描路径生成，用于复杂形状测试件的机器人无损测试。离线编程扫描路径用于通过扫频涡流方法自动检查飞机机翼的铝制固定前缘蒙皮面板。涡流探头通过六轴机械臂 KUKA KR5 arc 进行部署。对试件进行逆向工程，重建其表面CAD模型。根据 ISO 9283:1998 使用激光跟踪仪测量所执行的连续扫描的定位精度，并在论文中进行了报告。 NDT 扫描的位置不确定性计算为测量路径坐标与命令路径坐标的标准偏差不超过 0.5 毫米，考虑到与离线机器人编程相关的不确定性，这是相当适中的。
This work presents computer-aided scan path generation for robotic non-destructive testing of complex shaped test-pieces. Off-line programmed scan path was used to robotically inspect an aluminium fixed leading edge skin panel of an aircraft wing by means of swept frequency eddy currents method. Eddy currents probe was deployed by means of a six-axis robotic arm KUKA KR5 arc. Reverse engineering of the test-piece was carried out to reconstruct CAD model of its surface. Positioning accuracy of the performed continuous scan was measured with a laser tracker in accordance with ISO 9283:1998 and is reported in the paper. The positional uncertainty of the NDT scan calculated as the standard deviation of the measured path coordinates from the command path coordinates does not exceed 0.5mm which is rather moderate taking in account uncertainties associated with the off-line robot programming.