{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T06:04:17Z","timestamp":1777874657659,"version":"3.51.4"},"reference-count":21,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T00:00:00Z","timestamp":1564531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1737203"],"award-info":[{"award-number":["U1737203"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Graduate Technological Innovation Project of Beijing Institute of Technology","award":["2018CX10018"],"award-info":[{"award-number":["2018CX10018"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>With the rapid development of material science, more and more workpieces, especially workpieces with complex curved surfaces, are being made of composite materials. Robotic non-destructive testing (NDT) systems for complex curved surface composite material parts are being used more and more. Despite the emergence of such flexible NDT systems, the detection of semi-enclosed parts is also a challenge for robotic NDT systems. In order to overcome the problem, this paper establishes an NDT solution for semi-enclosed workpieces based on a dual-robot system of synchronous motion, in which an extension arm is installed on one of the robots and presents a trajectory planning method that always ensures the extension arm is parallel to the rotary axis of a semi-enclosed workpiece and that the ultrasonic probes are perpendicular to the workpiece surface. Trajectory analysis experiments and ultrasonic NDT experiments utilizing the optimal water path distance determined by simulation result of multi-Gaussian beam model for two types of semi-enclosed workpieces are performed with the dual-robot NDT system. Experimental results prove that the dual-robot NDT scheme functions well and the planned trajectories are correct. All the hole-shaped artificial defects with diameters \u22653 mm are detected by using 2.25 MHz ultrasonic probes through the transmission testing method. Vivid 3D C-scan image of a small diameter cylindrical workpiece based on the testing result is provided for convenience of observation.<\/jats:p>","DOI":"10.3390\/s19153359","type":"journal-article","created":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T11:37:07Z","timestamp":1564573027000},"page":"3359","update-policy":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Ultrasonic Non-Destructive Testing System of Semi-Enclosed Workpiece with Dual-Robot Testing System"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0002-1590-9765","authenticated-orcid":false,"given":"Canzhi","family":"Guo","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Fundamental Science on Advanced Machining Laboratory, Beijing 100081, China"}]},{"given":"Chunguang","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Fundamental Science on Advanced Machining Laboratory, Beijing 100081, China"}]},{"given":"Juan","family":"Hao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Fundamental Science on Advanced Machining Laboratory, Beijing 100081, China"}]},{"given":"Dingguo","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Fundamental Science on Advanced Machining Laboratory, Beijing 100081, China"}]},{"given":"Wanxin","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Fundamental Science on Advanced Machining Laboratory, Beijing 100081, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,7,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1784\/insi.2014.57.3.161","article-title":"PAUT inspection of complex-shaped composite materials through six DOFs robotic manipulators","volume":"57","author":"Mineo","year":"2015","journal-title":"Insight Non-Destructive Test. 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