【摘要】 为满足AP1000蒸汽发生器(SG)下封头与主泵连接焊缝内部超声检测的需要,开发了一套具有9个自由度的特种检测设备。为使检测设备到达所需的检测位置并实施焊缝扫查,先基于D-H方法建立坐标系,确定运动学方程,再求出其运动学正逆解。分析特种检测设备的奇异状态与运动学逆解的多解问题,为机器人的运动控制提供理论依据。更多还原

【Abstract】 In order to satisfy the need of ultrasonic detection for the welding seam between the bottom head of AP1000 steam generator(SG) and the main pump, a set of special detection equipment with nine degrees of freedom was developed. For making the detection equipment reach the required target position and carry out weld detecting, the coordinate system was established based on D-H method, the kinematics equation was determined, and then the forward and inverse kinematics solutions were obtained. The singular state of the special detection equipment and the multi-solution problem of kinematics inverse solution were analyzed. It provides a theoretical basis for the motion control of robots.更多还原