Table 1.
Main components of the robot-assisted UT system.
| Apparatus | Brand | Model | Property |
|---|---|---|---|
| Robot | Staubli (Pfäffikon, Switzerland) | TX90XL-HE | Repeatability 0.035 mm |
| Motor of the turntable | Parker (Cleveland, OH, USA) | SME Series | Power 1.57 kW, Torque 6 Nm |
| Motor controller | Parker (Cleveland, OH, USA) | Complex 3 Series | Control via CAN Open |
| Ultrasonic pulser/reciver | Olympus (Tokyo, Japan) | 5077PR | Receiving bandwidth 1 kHz–35 MHz |
| Ultrasonic transducer | Olympus (Tokyo, Japan) | V319-SU-F4.0IN | Centre frequency 15 MHz |
| A/D converter | Acquisition Logic (Chantilly, VA, USA) | AL12200 | Sampling rate 100 MHz |