Design The Automation Leak Detection System Of Welds And Virtual Simulation Based On6-dof Robot

In recent decades, with the rapid development of the aerospace industry, leakdetection of a variety of spacecraft becomes one of the research contents thatworkers are engaged in the field of aerospace. Propulsion system, as an importantpart of the spacecraft, consists of all sorts of valve with sealing requirements andmany different diameter, position and orient of pipes by welds connection, onceleakage of these parts will cause serious consequences, therefore, these parts needleak detection. Not only to improve the reliability of leak detection, but also toimprove the efficiency of detection because of many welds. Under the backgroundof the satellite propulsion system of complex pipe welds leak detection, use robotfor leak detection, and develop virtual verification procedures based on robot ofautomatic leak detection and virtual simulation, simulation verification proves thefeasibility of automatic leak detection.According to the automation leak detection technology indicators, the paperdesigns the overall scheme of leak detection based on6-DOF robot, according tothe index of robot, selects the ABB IRB2600ID robot, and function modules of leakdetection system were analyzed to determine the feasibility of the scheme.Using VB API for Pro/E secondary development, a feature recognitionalgorithm for satellite propulsion system of the control panel of Pro/E three-dimensional model is designed, use the algorithm to realize the feature recognitionand extraction of pose coordinate of the welds; Using ant colony algorithm to planpath of the welds extracted, use the algorithm to realize the path planning anddisplay the result via the interactive interface; Research on the weld location of allkinds of valve leakage manipulator interference method, using Skeleton andProgram of Pro/E, achieve an interference checking of leak detection manipulator inweld position.The study of feature recognition of weld, path planning and interferencechecking, the development of automation leak detection procedure based on6-DOFrobot solves the key problems early.Based on this, ABB robot procedure structure are analyzed and studied to design a robot procedure method for the weld leak detection, deduced themathematical formulas of the transformed between model coordinate system andworkplace coordinate system and the coordinate transformation of pose parametersof robot target, formulas calculated are given, finally, through VB.NETprogramming to realize development of the robot procedure.Using robot simulation software RobotStudio to establish a virtual robotsystem of weld leak detection and simulate the developed robot procedure, thesimulation verifies the feasibility of the procedure of automation leak detection.The objective of the study of other aerospace products automation leakdetection based on industrial robot has certain research value.