대한용접접합학회:학술대회논문집 (Proceedings of the KWS Conference)
- 대한용접접합학회 1996년도 특별강연 및 춘계학술발표 개요집
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- Pages.96-98
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- 1996
모서리 부위 연속 용접을 위한 아크 용접 로봇과 포지셔너의 협업
The Cooperation of Arc Welding Robot and Manipulator for Continuous Welding of Corner Area
초록
Welding of corner area across the edge is a difficult problem in robotized arc welding system, especially when continuously-welded leakage-proof product is required. This paper presents the methodology of cooperation plan of an arc welding robot and 1 or 2 axis welding manipulators for corner area welding. Welding trajectory for the robot is generated using clothoid curves; symmetrical double clothoid curve or unsymmetrical clothoid curve depending on the nature of the workpiece. The clothoid curve is first formulated for the case of linear type positioning table and then applied to the case of rotary type manipulator. The methodology is then illustrated for practical downhand welding situations.
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