Developing Of A Manipulator For The Ultrasonic Detecting

The NDT automatization is one of development trend in the ultrasonic testing field. Though, some accomplishments have been obtained, they cannot satisfy the needs of practice application. There are some questions in inspecting digital extent, reliability, repeatability and checker's working intensity etc. A manipulator for ultrasonic testing is developed by means of ultrasonic testing and robotic technology.Based on analyzing features of ultrasonic testing and structural of manipulator, the research project of four-joint manipulator is decided, and the mechanical system of manipulator has been developed. Then based on its structural analyses, kinematics model of the manipulator has been built. According to motion parameters of joints, the forward kinematics equation is resolved. In addition, according to the given position and attitude parameters, the backward kinematics equation is resolved. These establish foundation for orientation and path layout of ultrasonic probe.The control and inspection system of this manipulator is based on PC and controlled by PMAC. At the same time, the output of photoelectric encoder fixed the joints of manipulator is also processed by PMAC. The system uses the four photoelectric encoder to measuring rotating angle of four joints in order to calculate position of probe. By mean of VC++ language, the system software is developed based on kinematics model of the manipulator.This paper has presented and developed the manipulator of ultrasonic testing. It is important to improve efficiency, precision, reliability and alleviate working intensity of checker.