Abstract
Nowadays, automation is an actual issue in the development of methods and equipment for ultrasonic non-destructive testing. The conditions of modern industrial production require the development and application the automated testing equipment which is versatile to a wide range of manufactured products, which can have a complex shape. In this paper, we propose a technique for ultrasonic testing of complex-shaped objects. Such technique implies the application of six degrees of freedom robotic manipulators to ensure the required refraction angle of ultrasonic waves into the test object at each measuring position. The trajectory of the robot movement during scanning is provided by restoring the surface profile of the test object using optical profilometry and determining the location of the test object relative to the robotic manipulator using a probe tip. Within the framework of this work, the effectiveness of the developed technology is verified experimentally.
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