曲面工件自动超声检测轨迹规划

航空发动机叶片是典型复杂曲面结构，为实现叶片的自动化超声检测，提出基于曲面点云数据重建的自动化检测轨迹规划方法，在此基础上实现7轴联动复杂曲面自动扫描成像。叶片点云采用线激光轮廓仪配合工件旋转轴自动扫描获取，数据拼接整理后采用数据拟合方法获得曲面轮廓方程，基于曲面上的曲线方程规划加减速扫描轨迹，进一步对各扫描轨迹点进行多轴运动分解，获得包括六轴机械手和工件旋转轴在内的各轴轨迹。实际检测试验表明，轨迹规划算法可以实现叶片自动扫描，获得清晰C扫描图像。

Motion Planning of Curved Surface for Automatic Ultrasonic Testing

Aeroengine blade is a typical complex surface. In order to realize automatic ultrasonic inspection on blades, an trajectory planning method based on surface point cloud data reconstruction was proposed for the automatic ultrasonic testing. Furthermore, an automatic scanning with seven-axis motion was realized the image this kind complex surface. The blade point cloud data are acquired using linear laser scan and two-axis motion. The surface contour equation is obtained by data fitting method, then acceleration and deceleration trajectory is planning based on the curve equation. An motion decomposition method including the six-axis manipulator and blade rotation axis is developed for each trace point. The actual inspection experiment shows that this path planning algorithm can obtain a clear C-scan image autocratically.