The performance of modern robotic manipulators has allowed research in recent years, for the development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well suited for their accuracy and flexibility when adapting to new tasks. Several robotic inspection prototype systems and a number of commercial products have been created around the world. This paper describes the latest progress of a new phase of the research applied to a composite aerospace component of size 1 by 3 metres. A multi robot flexible inspection cell was used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for future industrial exploitation. The robot cell was equipped with high accuracy and high payload robots, mounted on 7 metre tracks, and an external rotary axis. A robotically delivered photogrammetry technique was first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming was used to generate a scan path for phased array ultrasonics testing (PAUT) which was implemented using high data rate acquisition from a conformable wheel probe. Real-time robot path-correction, based on force-torque control (FTC), was deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software was developed that enabled the simultaneous control of the multiple robots performing different tasks and the reception of accurate positional feedback positions. All aspects of the system were controlled through a purposely developed graphic user interface that enabled the flexible use of the unique set of hardware resources, the data acquisition, visualisation and analysis. This work was developed through the VIEWS project (Validation and Integration of Manufacturing Enablers for Future Wing Structures), part funded by the UK’s innovation agency (Innovate UK).
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机译：近年来，现代机器人操纵器的性能已为复杂几何形状的快速自动无损检测（NDT）的开发进行了研究。现代机器人在适应新任务时非常适合其准确性和灵活性。在世界范围内已经创建了多个机器人检查原型系统和许多商业产品。本文介绍了应用于尺寸为1 x 3米的复合航空部件的研究新阶段的最新进展。多机器人柔性检查室用于将基础研究和可行性研究提高到更高的技术准备水平，所有这些都为将来的工业开发奠定了基础。该机器人单元配备了高精度和高负载机器人，安装在7米的轨道上，并带有外部旋转轴。首先使用了自动摄影测量技术来评估放置在机器人工作范围内的组件的位置及其相对于CAD的偏差。脱机编程用于生成相控阵超声测试（PAUT）的扫描路径，该扫描路径是使用从合适的轮式探测器中获取的高数据速率来实现的。部署了基于力转矩控制（FTC）的实时机器人路径校正，以实现最佳的超声耦合和可重复的数据质量。开发了新的通信软件，该软件能够同时控制执行不同任务的多个机器人并接收准确的位置反馈位置。系统的所有方面都通过专门开发的图形用户界面进行控制，该界面可灵活使用独特的硬件资源集，数据采集，可视化和分析。这项工作是通过VIEWS项目（用于未来机翼结构的制造要素的验证和集成）开发的，该项目由英国创新机构（Innovate UK）资助。
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