A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspec...A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.展开更多
A novel method for measuring differences of microstructure by advanced use of the Faraday magneto-optical effect is proposed. Two groups of YAG laser welds on Q235 have been investigated in order to compare MO imaging...A novel method for measuring differences of microstructure by advanced use of the Faraday magneto-optical effect is proposed. Two groups of YAG laser welds on Q235 have been investigated in order to compare MO imaging and traditional methods. Microstructure images have been compared with MO images, and MO diagrams display different colors and gray scales for the base metal, the weld zone, and the heat affected zone. Experimental results indicate that the welded joint microstructure can be inspected by MO imaging without metallographic preparation.展开更多
基金Foundation Program Conducted by Science&Technology Committee of National Defence ( T0 12 0 0 1A0 0 1)
文摘A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.
基金Project supported by the National Natural Science Foundation of China(Grant No.51675104)the Science and Technology Planning Project of Guangzhou,China(Grant No.201510010089)the Science and Technology Planning Public Project of Guangdong Province,China(Grant No.2016A010102015)
文摘A novel method for measuring differences of microstructure by advanced use of the Faraday magneto-optical effect is proposed. Two groups of YAG laser welds on Q235 have been investigated in order to compare MO imaging and traditional methods. Microstructure images have been compared with MO images, and MO diagrams display different colors and gray scales for the base metal, the weld zone, and the heat affected zone. Experimental results indicate that the welded joint microstructure can be inspected by MO imaging without metallographic preparation.
