Ultrasonic transmission detection technique of complex rotating surface based on complex axis motion

Six degrees of freedom joint robot can achieve arbitrary pose motion in space, so it is particularly suitable to be used to test part in ultrasonic method with complex surfaces. When the part is made of composite material, two robots are needed to hold the ultrasonic excitating transducer and ultrasonic receiving transducer respectively to realize the transmission ultrasonic test. However, the robot can't complete the detection task when the part has a closed surface in one end and has narrow interior space limited by its operating space and size. By adding some moving mechanism to the end manipulator of the robot, the final motion combined by the robot motion and the added motion can solve this problem effectively. As the supplementary motion is relatively independent of the robot movement, it is required to coordinate the two kinds of movements. In addition, applied to the robot as a load, the supplementary motion mechanism can affect motion performance of the robot. So it is necessary to optimize its structure.