Nondestructive estimation of residual stresses has been a major challenge in engineering. Herein, the collinear Lamb wave mixing method is proposed for residual stress measurement in metal plates under immersion ultrasonic testing. Numerical simulations have been conducted to investigate the influences of excitation parameters on the performance of the wave mixing method. The results showed that the receiver position and cycle numbers of primary waves affect the amplitude of the method, and optimal excitation parameters recommended. Ultrasonic immersion experiments are conducted on two types of plate-like specimens using the collinear Lamb wave mixing method. Experimental results showed that the proposed method is effective for measuring the residual stress in metal plates. The immersion ultrasonic testing can significantly reduce the influence of inconsistent coupling conditions between the transmitters and the specimen on experimental results, therefore it is more reliable than conventional contact testing.
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