Research on Collision Detection in Ultrasonic Automatic Testing of Rotary Assembly

doi:10.3969/j.issn.1000-1093.2018.04.018

Abstract

Abstract: In order to solve the collision in the detection process of robotic ultrasonic automatic detection system, the ultrasonic detection system is divided into collision and stationary bodies, and the collision detection algorithm based on the distance field is introduced. Based on the kinematics equation of robot, the collision detection is carried out in the virtual environment of the ultrasonic automatic detection system, and the anti-collision detection of the system during the detection process of magnesium alloy shell is realized. The variation law of the shortest distance between the stationary body and the collision body is analyzed by comparing the detected results of different scanning parameters, and the ultrasonic detection process optimization of magnesium alloy shell is realized. The experimental results show that the improved algorithm can improve the efficiency of collision detection by 80.62%, which can meet the requirements of collision efficiency during ultrasonic testing of magnesium alloy shell and guarantee the same precision as the traditional distance field detection algorithm at the critical position.Key

Key words: cartridgecase, magnesiumalloy, collisiondetection, distancefield, ultrasonicdeection

CLC Number:

TB551

WANG Xuan-run， NI Pei-jun， YI Bing， LI Xiong-bing. Research on Collision Detection in Ultrasonic Automatic Testing of Rotary Assembly[J]. Acta Armamentarii, 2018, 39(4): 780-786.

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第39卷第4期2018 年4月兵工学报ACTA
ARMAMENTARIIVol.39No.4Apr.2018