A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspec...A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.展开更多
基金Foundation Program Conducted by Science&Technology Committee of National Defence ( T0 12 0 0 1A0 0 1)
文摘A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.
