摘 要 无损检测自动化设备是无损检测领域的发展方向之一，目前，尽管在这方面取得了不少成就，但仍不能够满足实际工作的需要，在检测数字化、可靠性、重复性以及检测人员劳动强度等方面存在不足。本文针对上述情况将无损检测技术与机器人技术结合起来，进行了超声波检测机械手的研制。 在对超声波检测的特点和机器人进行分析的基础上，确定了四自由度关节型检测机械手的研究方案，进行了机构设计和传动系统设计，建立了超声波检测机械手的运动学模型，并根据各关节运动参数，对机械手位置和姿态的正运动学方程进行求解。另外，在给定相关的位置和姿态参数的情况下，对各关节运动参数的逆运动学方程进行求解。为超声检测时探头的定位以及运动路径的规划奠定了理论基础。 该超声波检测机械手控制与检测系统是以PC机为核心，借助于PMAC运动控制卡驱动四个步进电机，实现自动控制，同时获取安装在四个关节的相对式光电编码器的转角信号，求取探头所在的坐标位置。 系统软件是基于机械手运动学原理建立的机械手运动学位姿方程，采用VC++在windows 平台进行开发的。 本文提出并开发的超声波检测机械手，对提高超声检测的效率、精度和可靠性、减轻工人的劳动强度均具有实际意义。

ABSTRACT The NDT automatization is one of development trend in the ultrasonic testing field. Though, some accomplishments have been obtained, they cannot satisfy the needs of practice application. There are some questions in inspecting digital extent, reliability, repeatability and checker’s working intensity etc. A manipulator for ultrasonic testing is developed by means of ultrasonic testing and robotic technology. Based on analyzing features of ultrasonic testing and structural of manipulator, the research project of four-joint manipulator is decided, and the mechanical system of manipulator has been developed. Then based on its structural analyses, kinematics model of the manipulator has been built. According to motion parameters of joints, the forward kinematics equation is resolved. In addition, according to the given position and attitude parameters, the backward kinematics equation is resolved. These establish foundation for orientation and path layout of ultrasonic probe. The control and inspection system of this manipulator is based on PC and controlled by PMAC. At the same time, the output of photoelectric encoder fixed the joints of manipulator is also processed by PMAC. The system uses the four photoelectric encoder to measuring rotating angle of four joints in order to calculate position of probe. By mean of VC++ language, the system software is developed based on kinematics model of the manipulator. This paper has presented and developed the manipulator of ultrasonic testing. It is important to improve efficiency, precision, reliability and alleviate working intensity of checker.