Aiming at the problems of low efficiency and poor accuracy in the internal defects detection of high-speed rail wheels,a six-axis ultrasonic phased array inspection robotic arm was built for non-destructive testing of high-speed rail wheels.The point cloud was extracted and processed for the 3D map of the high-speed railway wheel,saved as a template and the target scan path was extracted.Then the Azure Kinect camera was used to reconstruct the 3D point cloud of the high-speed rail wheel and match the template point cloud.Finally,the kinematics model of the inspection arm was established in CoppeliaSim and the kinematics simulation was performed through MATLAB and CoppeliaSim.The results show that the kinematics model is effective,the control effect of each joint and end effector is good,and it can realize the automatic detection of high-speed rail wheels and achieve the expected trajectory.It provides experimental basis and theoretical basis for the subsequent research on the control problems of the detection robotic arm.