Abstract
This robot system has been developed for the purpose of inspection of large scale three dimensional composite material parts. The robot has 5 degrees of freedom in a gantry type structure, and is servo-controlled by ordinary motor. The end-effector of the arm is equipped with water injection nozzles and flaw detection probes. Three dimensional surface inspection by scanning is easily controlled by teaching. Positioning accuracy is ±0.2 mm at a maximum speed of 100 mm/s. Inspectable size of the parts is 4,000 mm × 2,500 mm × 800 mm at its maximum, and it has been confirmed that a flaw of 1 mm in diameter is detectable by the use of C-scope method.
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References
D.F.Rogers, J.A.Adams: Mathematical Elements for Computer Graphics, McGraw-Hi11,1976
T.Ogata, K.Kawamura, H.Maruyama et al: Ultrasonic Immersion Testing System, Kawasaki Steel Technical Review, Vol. 18, No. 2, (1986) 199–207
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© 1989 Springer-Verlag Berlin Heidelberg
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Fujinaga, S., Tsuda, E., Imafuku, H. (1989). The Ultrasonic Inspection Robot System. In: Waldron, K.J. (eds) Advanced Robotics: 1989. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83957-3_19
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DOI: https://doi.org/10.1007/978-3-642-83957-3_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83959-7
Online ISBN: 978-3-642-83957-3
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