The automatic ultrasonic scanning system integrating a gantry mobile platform and a robot has shown high effectiveness in detecting large-curvature laminated composites. However, for large-curvature laminated wing workpieces, achieving full-surface coverage during automatic scanning remains a critical technical challenge. To address this, this study first identifies the key factors influencing the efficiency and accuracy of robot scanning. It then proposes adopting the Zig-Zag scanning strategy for trajectory planning: the size and quantity of the robot’s single scanning area are determined based on its working range, and the overall scanning trajectory is subsequently formed. Additionally, a four-sensor normal detection algorithm is developed to real-time detect the normal vector of the scanning area, enabling real-time adjustment of the robot’s end-effector attitude. This approach ensures the accuracy of the automatic ultrasonic scanning system while significantly improving scanning efficiency.
Zhang et al. (Thu,) studied this question.