7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry

Conference paper

Sattar, TP and Brenner, A (2005). 7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). London South Bank University, London, UK 12 - 15 Sep 2005 Springer. pp. 943-950 https://doi.org/10.1007/3-540-26415-9-113
AuthorsSattar, TP and Brenner, A
TypeConference paper
Abstract

The aim of the work described here is to design a dexterous and intelligent robotic arm to automate the non-destructive testing and evaluation of geometrically complex industrial products. The robot is required to scan contoured surfaces with ultrasonic and eddy current sensors without the need to position the test pieces precisely, thereby reducing inspection times. In addition, the arm should be lightweight so that it can be carried by wall-climbing and walking robots but at the same time it should be rugged enough to be operated in industrial environments where the tool (sensor probe) comes into contact with rigid and unknown test surfaces. To realise these aims, a seven-axis lightweight and rugged robot arm has been specially developed for non-destructive testing (NDT) and is reported here. The arm weighs 22 kg and is designed for portability, dexterity, ruggedness in an industrial environment and 1 mm repeatability. Its NDT payload is 4 kg. Current work is directed at developing a control system for the arm with a proven operating system with further work required to make the arm adapt to uncertain surfaces. © 2006 Springer-Verlag Berlin Heidelberg.

Year2005
JournalProceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
PublisherSpringer
Digital Object Identifier (DOI)https://doi.org/10.1007/3-540-26415-9-113
Accepted author manuscript
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Publication dates
Print12 Sep 2005
Publication process dates
Deposited03 Jan 2019
Accepted12 Sep 2005
ISBN3540264132
Page range943-950
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https://openresearch.lsbu.ac.uk/item/87qy6

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Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012