Design and construction of a mechatronic robot with five degrees of freedom that locates internal porosity in centrifugal pumps

In this paper is presented construction and implementation of a mechatronic robot to obtain porosity in parts mechanics of centrifugal pumps using ultrasonic wave. Considerations about the methods applied and their use in the field of metrology for the metal mechanic industry are taken into consideration. This project is inserted in ITT Goulds Pumps industries, with a headquarter in Tizayuca Hidalgo State, Mexico. A mechatronic robot with 5 free grades (XYZUV) of 170 X 104 X 120 cm controlled by a PC is built. The robot let us scan metal mechanic pieces of 120 X 90 X 170 cm. It is incorporated a sensor ultrasonic in miniature in the Z axis. Such arrangement allows applying the techniques of ultrasonic wave to obtain maps of porosity in parts mechanics in manufacturing pumps to test mechanic deformation. The scan is done by the Z axis when traveling around the piece under test with the objective of finding fragility zones when applying cutting efforts to the pieces.