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Common steps involve (1) forcefully removing the joining element with parts of its structural surroundings (2) cutting it through its longitudinal axis of symmetry (3) polishing it (4) treating it with chemicals in order to remove metallic residue and finally (5) dimensioning its characteristic features with the help of a microscope and a suitable software.

The current evaluation methods for mechanical joining sites are on one hand destructive and on the other hand limited with regard to their ability to provide extensive volumetric information with reasonable effort. This leads to additional time-wise and financial efforts. Even if only individual joining sites need to be inspected again, the entire car body would-at least for completion-become unusable.

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Thus, the previous validation and fine-tuning through a test series can become invalid. Joining parameters have to be adjusted accordingly, in particular for the sensitive tools of cold joining technology. As a consequence, it has to be expected that individual parts change slightly in size or shape during the prototype production phase. Instead, suppliers themselves run through a process of prototyping that includes constant improvement and evaluation in order to empower their machines (like punching machines or casting moulds). Suppliers often do not use the final version of their tools to produce the individual components. While in series production one can typically rely on a constant part quality, this is quite different in the field of prototyping. One of its most important use cases in this field is the quality assurance for joining methods, such as riveting, screwing, welding and various adhesive-based variants. Since the introduction of the first commercially available systems at the beginning of this century, industrial computed tomography (CT) has become a valuable and popular inspection tool for the automotive sector. Based on representative results, a reduction of the number of required projections by approx. 55 % or an image quality improvement according to the root-mean squared error by approx. 40 % compared to the conventionally applied planar acquisition trajectory was achieved. In contrast to former simulation-guided approaches, this work is considered to be the first successful task-specific trajectory optimization being performed on a robot-based industrial CT platform and aims towards providing a first proof of concept that such methods can be practically applied in a shop floor environment. Common circular standard trajectories are inherently inefficient, since they are applied independently of the considered inspection task, while the use of acquisition orbits tailored particularly to the investigated object effectively allows a reduction of the required number of projections, which in turn has the potential to directly decrease the scan time significantly. As an approach to mitigate the necessary time demand, we propose a part-specific adjustment of the acquisition trajectory. However, the typical scan time required by such setups is still significant and represents a major barrier for its industrial large-scale application. Robot-guided computed tomography enables the inspection of parts that are too large for conventional systems and allows, for instance, the non-destructive and volumetric evaluation of mechanical joining components within already assembled cars in the automotive industry.

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