ABSTRACT
Industrial robotic arms integrated with server computers, sensors and actuators have revolutionized the way automated non-destructive testing is performed in the aeronautical sector. Currently, there are commercial, industrial robots that have the precision, speed and repetitiveness in their movements that make them suitable for use in numerous non-destructive testing inspections. Automatic ultrasonic inspection of complex geometry parts remains one of the most difficult challenges in the market. The closed configuration, i.e., restricted access to internal motion parameters, of these robotic arms makes it difficult for an adequate synchronism between the movement of the robot and the acquisition of the data. This is a serious problem in the inspection of aerospace components, where high-quality images are necessary to assess the condition of the inspected component. In this paper, we applied a methodology recently patented for the generation of high-quality ultrasonic images of complex geometry pieces using industrial robots. The methodology is based on the calculation of a synchronism map after a calibration experiment and to introduce this corrected map in an autonomous, independent external system developed by the authors to obtain precise ultrasonic images. Therefore, it has been shown that it is possible to establish the synchronization of any industrial robot with any ultrasonic imaging generation system to generate high-quality ultrasonic images.
ABSTRACT
A new versatile and geometrically reconfigurable ultrasonic tomography system (UTS) has been designed to inspect and obtain information about the internal structure and inner damage of columns in heritage buildings. This nondestructive system is considered innovative because it aims to overcome common limitations of existing systems. Tomographic inspections are typically carried out manually and are thus limited to small portions of construction elements. The proposed UTS allows the automatization of the inspection and the generation of numerous tomographic slices along the height of the column. It is valid for multiple types of columns and materials. In the present work, the system was tested on two limestone columns of the north façade of the Convent of Carmo in Lisbon, Portugal. The UTS is composed of a mechanical and an electronic system. The mechanical system consists of four linear motion subsystems mounted in a square setup. A transducer is placed on each of the axes, acting as emitter or receiver of the ultrasonic signals. The mechanical system also includes a guide system to adapt the inspections to the complex geometry of the columns. The electronic system allows the control and the synchronization of the movements and the emission/reception configuration of the four ultrasonic transducers.
