Crack assessment when making fitness-for-service decisions requires a thorough examination\nof crack location and size in critical areas. An ultrasonic transducer is used for such assessments,\nbut traditional methods cannot cope with complex rotators, such as wheel hubs. We present a model\nof robot-assisted crack growth assessment in wheel hubs. We integrate a six-degrees-of-freedom\n(DOF) industrial robot and a turntable to form a robot-assisted ultrasonic testing (UT) system that\ndoes not use traditional UT equipment. Ultrasonic beams are focused at certain depths appropriate\nfor achieving maximum sensitivity.We quantitatively analysed wheel hubs with longitudinal and\ntransverse series of pre-cracks, and concluded that our system autonomously detected cracks.
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