Patent ID: 9664652
Date: 2017-05-30
CPC Classifications: G01N

Claim:
1. A system for inspecting a component, comprising: an ultrasonic inspection probe comprising a component surface interface; a robotic device comprising an end effector coupled to the ultrasonic inspection probe by an articulation subsystem comprising a two-axis gimbal structure arranged to passively absorb pitch and roll movement of the ultrasonic inspection probe, wherein the robotic device is automatably controllable to move the ultrasonic inspection probe across a surface of the component; an angle sensor subsystem coupled to the two-axis gimbal structure, wherein the angle sensor subsystem is configured to operably detect an actual orientation of the end effector relative to a presently inspected portion of the surface of the component; and a controller configured to receive orientation data from the angle sensor subsystem based on the actual orientation of the end effector, compare the actual orientation to a desired orientation, and control the robotic device to adjust the actual orientation of the end effector to be in the desired orientation.