Composite component manipulator scanning pose quaternion converting method

Abstract

The invention provides a composite component manipulator scanning pose quaternion converting method. The composite component manipulator scanning pose quaternion converting method comprises performing post-processing on numerical control codes generated by five-axis numerical control machining and describing a six-degree-of-freedom manipulator tail end effector spatial ultrasonic testing pose through a quaternion converting method which replaces a matrix and an euler angle. According to the composite component manipulator scanning pose quaternion converting method which aims at a complicated surface workpiece specificity and particularity, water immersion type ultrasonic testing is adopted, a probe is fixed inside a water groove, a manipulator clamps a to-be-tested workpiece to perform complex spatial movement relative to the ultrasonic probe, and accordingly ultrasonic non-destructive testing of the ultrasonic probe is achieved. The composite component manipulator scanning pose quaternion converting method can effectively achieve post-processing of manipulator ultrasonic scanning and enables rotation transformation calculation to be simple and convenient.

Description

1. Technical field [0001] The present invention proposes a quaternion conversion method for manipulator scan poses of complex components. This method is applied to the pose conversion of manipulators, and can effectively complete the post-processing process of manipulator ultrasonic scans. The calculation of rotation transformation is more concise and convenient. . 2. Background technology [0002] In engineering practice, the reliability of complex surface components is closely related to its internal structure. Its internal structure is complex, the law of ultrasonic propagation is complex, and manual detection is difficult and inefficient. The nondestructive detection of internal defects has always been a difficult problem in the field of flaw detection technology. . [0003] Ultrasonic testing is a very effective testing method, which can detect the internal defects of the tested components more accurately. At present, there is an automatic detection method that can ef...

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Problems solved by technology

[0004] However, the problem with this method is that in the process of ultrasonic scanning, it is necessary to plan the trajectory of the CAD data model of the measured component, but the tool position data obtained by the CNC software cannot be used by the manipulator, and it needs to be post-processed

After searching the literature, it was found that the literature (Xie Rong, Lu Haiyan. Simulation Research on Ship Movement and Attitude Based on Quaternion [J]. China Shipbuilding, 2011) used the quaternion method to describe the three-dimensional attitude and rotation of the moving ship model. , but not for manipulator pose transformation

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