曲面工件超声检测机器人误差补偿分析

针对曲面工件超声波检测过程中，超声检测机器人末端探头位姿误差对检测精度影响的问题。根据超声检测机器人自身特点，提出基于多关节摄动误差补偿原理逆向求解标定误差模型参数的方法，利用误差模型参数实现对检测中所有扫描点位姿误差的实时补偿，提高检测的精度。首先，应用Denavit-Hartenberg方法建立超声检测机器人的运动学模型；其次，分析超声检测机器人的误差原因和来源，并利用矩阵微分原理建立误差模型；最后，结合超声检测机器人测距功能和多关节摄动误差补偿原理得到位姿误差实时补偿方法。通过螺旋桨曲面工件扫描检测实验验证该位姿误差补偿方法的有效性。

Analysis on Error Compensation of Curved-Surface -Workpiece Ultrasonic Testing Robot

Aiming at the important influence of position and pose errors of ultrasonic testing robot terminating probe in the testing of curved-surface work-pieces, according to the characteristic of Ultrasonic Testing Robot, the paper proposed the method of solving parameters of the error model based on multi-joints perturbation to achieve the real-time error compensation of all the testing points with high testing accuracy.Firstly, the kinematics model of the ultrasonic testing robot was established by Denavit-Hartenberg method. Secondly, the causes and resources of errors were analyzed, error model was established by the principle of matrix differential coefficient. Finally, the real-time method of position and pose error compensation was obtained by distance measure function of Ultrasonic Testing Robot and multi-joints perturbation. The effectiveness of this position and pose error compensation method is testified by ultrasonic testing experiment of the curved surface airscrew component.