• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.5
• /
• pp.42-52
• /
• 1997

Computer aided process planning and Offline programming are decisive factors in successful implementation of automated robotic production. However, conventional offline programming procedure has proven ineffective due to time-consuming teaching process for robot programming and due to inefficient system modeling. The paper presents an efficient procedure to semi-automatically generate robot job programs for ship block welding applications. In the research, the teaching positions are automatically determined by predefined rules which are functions of the type and the dimensions of the given welding section of ship block. And a sequence of robot movements and welding conditions such as welding type, welding current, welding speed, and welding torch orientation, are determined by use of Standard Program which is experimentally proved to work well for the welding wection group. Finally, a robot program for the welding section is generated automatically. Based on the algorithm, a offline automatic teaching software is developed. The paper presents also the algorithm and structure of the software.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.18 no.1
• /
• pp.109-115
• /
• 2019

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

• Special Issue of the Society of Naval Architects of Korea
• /
• 2006.09a
• /
• pp.112-121
• /
• 2006

The vertical displacement of a ship on the basis of the sea level is an important parameter for its stability and control. To indicate the displacement on operating conditions, "draft marks" are carved on the hull of the ship in various ways. One of the methods is welding. The position, shape and size of the marks are specified on the shipbuilding rules by classification societies to be checked by shipbuilders. In most cases, high-skilled workers do the welding along the drawing for the marks and welding bead becomes the marks. But the inaccuracies due to human errors and high labor cost increase the needs for automating the work process of the draft marks. In the preceding work, an indoor robot was developed for automatic marking system on flat surfaces and the work proved that the robot welding was more effective and accurate than manual welding. However, many parts of the hull structure constructed at the outdoor are cowed shapes, which is beyond the capability of the robot developed for the indoor works on the flat surface. The marking on the curved steel surface requiring the 25m elevations is one of the main challenges to the conventional robots. In the present paper, the robot capable of climbing vertical curved steel surfaces and performing the welding at the marked position by effectively solving the problems mentioned earlier is presented.

• Journal of Welding and Joining
• /
• v.30 no.4
• /
• pp.44-48
• /
• 2012

H-beam used for stiffening the upper structure of ocean plant is cut in the various shapes. The cutting process of the H-beam is done manually and requires a long time and high cost. Therefore, automation of H-beam cutting is an important task. This research aims to develop a 3-D simulator to build the automatic H-beam cutting system and to determine the optimal cutting method. The automatic H-beam cutting system composes of 6 robots including 2 cutting robots hang to a crane and 1 conveyer. The appropriate system layout for covering the various sizes and types of H-beam was tested and determined using the simulator. The H-beam cutting system uses a hybrid type of plasma and gas cutting because of special cutting shapes of H-beam. The cutting area of each cutting method should be properly divided according to the size and shape of H-beam to shorten the total cutting time. Additionally the collision between a robot and a robot or a robot and H-beam should be avoided. The optimal cutting method for the shortest cutting time without the collision could be found for the various cutting conditions by use of the simulator. 2 simulation samples shows the availability of the simulator to find the optimal cutting method.

• Korean Journal of Construction Engineering and Management
• /
• v.5 no.5 s.21
• /
• pp.183-192
• /
• 2004

Even in Korea the number of steel structure buildings that allow internal space and easy change of their layouts in accordance with the purpose of buildings and box-type steel bridges constructed with thick plates with thickness in a rage just from a few $\beta$AE to \$100\beta$AE is increasing these days and therefore, domestic fabrication and processing technology of members for steel structures is being improved at a pace faster than in the past to meet the growing requirements of consumers for high reliability on quality control on the related steel structures. However, most domestic fabricators os steel structures who are turning out their steel products in accordance with the designs prepared by engineering companies in their respective works for the sake of cost cut more than anything else, hesitating to introduce any advanced new technology into themselves. In the case of the steel structure design application for small and mid-size buildings in particular, it is quite meaningful not only for those who are involved in steel structure business, but also for the people working at construction work fields to review the result of the study on the connections of steel structure members deigned to obtain superb quality of steel structures within short period for steel fabrication and erection at fields in economical ways, as there is a glowing tendency seeking standardization of connection of steel structure members as well as whole structure together with the development on design of construction system of buildings including their exterior and interior decoration materials, manufacture of the related members and fabrication technique structure. This paper has been prepared with the aim to review the peculiar characteristics of buildings constructed with the main frames of steel structures and actual cases of the change made ing the connections between steel structure columns and between columns and girder members in order to reduce the work period necessary for fabrication and erection of steel structures at the maximum as well as the some examples of steel structures fabricated through automatic welding by robots for box-type columns in addition to the description of the problems found in the course of fabricating those steel structures, suggesting possible counter-measures to solve them.