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 multisolution problem of kinematics inverse solution were analyzed. It provides a theoretical basis for the motion control of robots.
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何高清,曹亮.特种检测设备的运动学分析[J].机床与液压,2020,48(15):30-33. HE Gaoqing, CAO Liang. Kinematics Analysis of Special Detection Equipment[J]. Machine Tool & Hydraulics,2020,48(15):30-33