In order to make full use of forest resources and effectively improve the utilization rate of wood, a dual-manipulator air-coupled ultrasonic testing system was constructed based on industrial manipulator technology and air-coupled ultrasonic testing technology, and the verification experiments were designed and carried out for the system defects inspection resolution and defects reproduction ability. The experimental results show that when the 100 kHz focusing probe is used for defect inspection of wood samples, the dual-manipulator air-coupled ultrasonic testing system has a good capacity to detect defects such as knots larger than 5 mm in wood with a thickness of 15 mm, and has a strong capacity to reproduce the shape of the defects of complex shapes and to inspect defects in parts with complex-curved surfaces. The successful implementation of the testing method can provide a scientific basis for the integrity and usability assessment of wood.