Abstract: A robot measuring system for providing gel/rise profiles of urethane foams is described here. The profiles will give a clear and quantitative picture of gel-blow relationships throughout the foaming process, which can be used to study the mechanizm of foaming process and helpful to quality control of PU production.The Gold-Key robot-based system includes a subsystem for measuring rising height of the foam, a subsystem fixed on the end-effector of the robot for dropping small steel balls into the foam to detect its strength; as Well as multi-microcomputers with its interfacers. The manipulator carries out operations according to the procedure supplied by the modified BBS method. The microcomputer has the tasks of data acquisition and processing of the data concerning the rising heights and the heights of balls inside the foam, furthermore for the gel/rise profiles.By means of trigonometric method and the principle of least degree of freedom, a simplified method for solving kinematic equations of the manipulator is proposed. Compared with the manual BBS method, the robot-BBS method featuring higher accurancy of measurements, more samples and more dropped balls, precise dropping operations can provide the profiles with more clear picture of foaming processes.