dc.contributor.author | Hernández Frías, Alfonso | |
dc.contributor.author | Altuzarra Maestre, Oscar | |
dc.contributor.author | Petuya Arcocha, Víctor | |
dc.contributor.author | Pinto Cámara, Charles Richard | |
dc.contributor.author | Amezua San Martín, Enrique | |
dc.date.accessioned | 2020-01-15T15:21:09Z | |
dc.date.available | 2020-01-15T15:21:09Z | |
dc.date.issued | 2018-05-09 | |
dc.identifier.citation | International Journal of Advanced Robotic Systems 15(3) : 1-12 (2018) | es_ES |
dc.identifier.issn | 1729-8814 | |
dc.identifier.uri | http://hdl.handle.net/10810/38479 | |
dc.description.abstract | Welding flaw detection is a key step in manufacturing many components. In offshore chains, every link is manufactured from a steel bar that is bent and the ends joined by flash butt welding. Ultrasonic inspection of the welded area is required for classification. Defects, if any, are parallel to the welded area, which does not favour detection by manual inspection with 45° beams, as per usual practice. This paper reports on CIRUS, a robot developed for automatic inspection of the weld area using a combination of pulse-echo and pitch-and-catch ultrasonic testing. The robot kinematic structure includes global positioning, local positioning, and inspection subsystems, and each subsystem design is described in detail. A data acquisition system processes ultrasonic inspection results, and provides visual information for the inspector, as well as traceability for manufacturing quality. | es_ES |
dc.description.sponsorship | The authors wish to acknowledge financial support from VICINAY MARINE S.L, Ministerio de Economía y Competitividad (Project DPI2015-67626-P, MINECO/FEDER, UE), University of the Basque Country (UPV/EHU) (Program UFI 11/29), and Departamento de Educación, Política Lingüística y Cultura of the Regional Government of the Basque Country (Project IT949-16). | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | SAGE Publications Inc. | es_ES |
dc.relation | info:eu-repo/grantAgreement/MINECO/DPI2015-67626-P | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | mooring chain | es_ES |
dc.subject | ultrasonic inspection | es_ES |
dc.subject | mechanical design | es_ES |
dc.subject | Hoecken linkage | es_ES |
dc.subject | robotic system | es_ES |
dc.title | A robot for non-destructive testing weld inspection of offshore mooring chains | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | Attribution 4.0 | es_ES |
dc.relation.publisherversion | https://journals.sagepub.com/doi/full/10.1177/1729881418770532 | es_ES |
dc.identifier.doi | 10.1177/1729881418770532 | |
dc.departamentoes | Ingeniería mecánica | es_ES |
dc.departamentoeu | Ingeniaritza mekanikoa | es_ES |