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A parallel link scanner for inspection of bores and tubes

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4 Author(s)
Zesch, W. ; ALSTOM Inspection Robot. Ltd., Zürich, Switzerland ; Zwicker, E. ; Wiesendanger, M. ; Knowles, J.F.

This paper shows a novel scanner to inspect hollow components such as tubes, hollow bolts or rotors with a central bore using ultrasound technology (UT). It uses a flexible lance which can be bent to get around obstacles such as tube elbows or turbine housings. A parallel link drive consisting of 2 motor-driven disks with inclined rollers drives the lance. As the coordinate system of the 2 motors is not Cartesian, a coordinate transformation is to be applied between the motor/encoder positions and the position information to be send to the measurement device. For this reason a microcontroller is built into the scanner. As an additional benefit, a cumbersome and heavy external motor controller, most often used today, is no longer needed. The system is operated via an easy-to-understand graphical user interface from a standard laptop PC or similar.

Published in:

Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on

Date of Conference:

5-7 Oct. 2010