A robot for welding inspection in offshore mooring chains
View/ Open
Date
2018-08-31Author
Hernández Frías, Alfonso
Altuzarra Maestre, Oscar
Petuya Arcocha, Víctor
Pinto Cámara, Charles Richard
Amezua San Martín, Enrique
Metadata
Show full item record
Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science 66 : 406-412 (2019)
Abstract
In this paper, the authors present the CIRUS robot. This automatic system uses a combination of pulse-echo and pitch and catch ultrasonic strategies for the inspection of the welded area of mooring chain links in an automatic way. The robot is divided in three parts: global position-ing subsystem, local positioning subsystem and inspection subsystem. Additionally, a data acquisition subsystem processes the results of the verification and produces a report for the inspector allowing the traceability of the product for assuring the welding quality.