Trajectory planning method for improving alignment accuracy of probes for dual-robot air-coupled ultrasonic testing system. (17th April 2019)

• Record Type: Journal Article
• Authors: Guo, Canzhi; Xu, Chunguang; Xiao, Dingguo; Hao, Juan; Zhang, Hanming
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 2(2019:Mar./Apr.)
• Publication Date: 2019-04-17
• Subjects: Air coupled ultrasonic testing -- composite parts testing -- trajectory planning -- dual-robot system -- robotic nondestructive testing; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419842713
• Languages: English
• ISSNs: 1729-8806

Abstract

Composite workpieces, especially the complex-curved surfaces composite workpieces, have been increasingly used in different industries. Non-destructive testing of these parts has become an urgent problem to be addressed. To solve the problem, this article presents a dual-robot air-coupled ultrasonic non-destructive testing scheme and introduces the structure of the system and a general calibration method for the workpiece frame of a dual-robot system in detail. Importantly, this article proposes a tangential constraint method, which makes the probes completely aligned during the inspection process. Verification experiments and ultrasonic testing experiments for a glued multilayered composite workpiece were performed using the dual-robot air-coupled ultrasonic non-destructive testing system. A comparative experiment was also performed using a dual-robot water jet-coupling ultrasonic testing system. Experimental results show that the dual-robot non-destructive testing scheme and the tangential constraint method function well, and all the artificial defects on the sample can be detected by both kinds of testing methods. Vivid 3-D C-scan image based on the test result is provided for convenience of observation. In other words, a kind of flexible versatile testing platform with multiple degrees of freedom is established.