• 한국정밀공학회지
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• 제14권5호
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• pp.42-52
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• 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.

• 한국기계가공학회지
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• 제18권1호
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• pp.109-115
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• 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.

• 대한조선학회 특별논문집
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• 대한조선학회 2006년도 특별논문집
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• pp.112-121
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• 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
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• 제30권4호
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• pp.44-48
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• 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.

• 한국건설관리학회논문집
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• 제5권5호
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• pp.183-192
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• 2004

현재 국내에도 건물의 특성에 알맞은 가변적이며 대공간 확보가 가능하고 사용부재의 두께가 수mm에서 100mm에 이르는 극후판 두께의 건축 철골구조의 건축물 및 Box형 강재교량으로 구축되는 사례가 증가하면서 철골부재의 제작 및 가공기술이 예전보다 더욱 향상되고 구조물로서의 품질관리에 대한 신뢰성의 요구도 증가되고 있는 실정이다, 그러나 국내의 철골조 건축부재의 구조설계는 설계사대로 각기 이루어지고 해당 부재는 공장별로 제작진행되어 그 기술수준에는 보이지 않는 상당한 격차가 있다고 보여지며 업체별로 경제성 등을 고려하여 기본적이며 일반적 철골제작기법을 간결하게 적용하는 것에 머물러 고도한 선진적인 기술의 채용은 대부분 주저할 수 밖에 없는 상황이다 또한, 중소규모의 빌딩 건축물들의 철골조 설계적용을 고려해볼 때 수많은 접합부의 표준화를 비롯하여 구조체 전체의 표준화 및 내$\cdot$외장재까지 포함된 시스템건축의 건축물설계와 부재의 제작 및 설치기술 개발경향도 엿보이고 있는 가운데 특히, 철골부재의 공장제작과 현장설치의 보다 경제적이고 짧은 공기내에 완전한 품질을 확보할 수 있는 부재간의 접합부 설계에 대한 연구검토는 철골분야에 종사하는 업계는 물론 현장 관계자에게도 의미있는 일일 것이다. 본 논문에서는 철골조 건축물의 특성을 알아보고 철골구조물 공장제작 및 현장설치공기를 최대한 단축할 수 있는 철골기둥과 기둥, 기둥과 큰보부재 접합부 변경사례 및 Box Column의 용접자동화, 로봇화에 의한 철골기둥 부재제작사례와 금후 철골구조물 제작상의 문제점과 대응방안에 대하여 서술하고자 한다.