Design And Optimized Analysis Of An Ultrasonic Testing Manipulator System

With the rapid development of industrial automation,robotic arms are increasingly applied in testing,assembly and other fields.Automatic testing has become inevitably popular.Compared with manual testing,automatic testing has many advantages,such as higher testing efficiency,flexibility,and lower labor intensity.However,most of the industrial robots are obturated,lack of flexibility and highly costing.Therefore,it is wise to consider the testing requirements with the robot technology to develop a robot arm that is not only economical but meet special inspection requirements.This paper combines ultrasonic testing technology and robotics technology to develop and analyze an ultrasonic testing robot arm system:1.The scheme of the ultrasonic testing robot arm was determined according to specific testing requirements.One prototype and its control system based on the microcontroller,which was used to drive stepper motor,was designed.The simulation of the deformation of guiding axle was accomplished to verify the calculation results.2.The finite element models for the key bearing components of the robotic arm was established,the maximum force was selected as the most dangerous conditions.As a result,the cloud chart of displacement and stress of the robotic arm was obtained by ANSYS Workbench.The topological optimization for the base of the robot arm was accomplished to improve the dynamic property of the manipulator.And then the first 6 modes of the vibration characteristics of the manipulator was studied in order to avoid resonance.3.The link coordinate system of the manipulator was established with D-H method refer to the specific parameters of the robot arm.Then the forward and inverse kinematics,Jacobian of the robotic arm was analyzed by coordinate transformation method.A simulation model was established with Matlab Robotics Toolbox to verify the solution and obtain the curve of displacement,velocity,accelerated velocity and the trajectory of end effector.4.The dynamic equation of the robotic arm was solved with the method of Newton-Euler.A dynamic simulation was fulfilled and the curves of dynamic torque of each joint was obtained to provide basis for real-time control and type selection of stepmotor and bearing.