• Journal of Welding and Joining
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• v.15 no.5
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• pp.84-91
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• 1997

The metal transfer phenomenon of the pulsed-GMAW is simulated by formulating the electromagnetic force incorporated with the Volume of Fluid algorithm. The free surface profiles, pressure and velocity distributions within the drop are computed numerically. Axial velocity and acceleration generated during peak current period are found to have a significant effect on drop detachment. Therefore, the accelerated inertia force becomes one of important factors affecting metal transfer in the pulsed-GMAW. When the pulse current parameters are selected properly, the molten drop is detached just after current pulse, and the operating range of the pulsing frequency increases with higher peak current and duty cycle. Calculated operating ranges show reasonably good agreements with the available experimental data.

• Journal of Welding and Joining
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• v.17 no.1
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• pp.62-70
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• 1999

Since various parameters including the welding conditions and material properties are involved in metal transfer, it is difficult to figure out the effects of each parameter. In this study, dimensional analysis in performed to reduce the number of the parameters and to reveal the effect of each parameter on metal transfer. Dimensionless parameters are derived based on the inertia force and surface tension, and their contributions on metal transfer are estimated by analyzing the calculated results using the volume of fluid (VOF) method. Among several dimensionless parameters, $N_{SE}(=$\mu$_{0}I^{2}/d_{w}${\gamma}$)$ which represents the ratio of the electromagnetic force to surface tension, is found to be appropriate to describe metal transfer and estimate the transition current. Predicted results of transition current and drop size are in reasonably good agreements with available experimental date which show the validity of proposed dimensional analysis.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2424-2426
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• 2002

This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.

• Journal of Welding and Joining
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• v.21 no.2
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• pp.102-110
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• 2003

A visual sensor consisted of polygonal mirror, laser, and CCD camera was proposed to measure the distance to the weld joint for recognizing the joint shape. To scan the laser beam of the sensor onto an object, 8-facet polygonal mirror was used as the rotating mirror. By locating the laser and the camera at axi-symmetrical positions around the mirror, the synchronized-scan condition could be satisfied even when the mirror was set to rotate through one direction continuously, which could remove the inertia effect of the conventional oscillating-mirror methods. The mathematical modelling of the proposed sensor with the optical triangulation method made it possible to derive the relation between the position of an image on the camera and the one of a laser light on the object. Through the geometrical simulation of the proposed sensor with the principal of reflection and virtual image, the optical path of a laser light could be predicted. The position and direction of the CCD camera were determined based on the Scheimpflug's condition to fit the focus of any image reflected from an object within the field of view. The results of modelling and simulation revealed that the proposed visual sensor could be used to recognize the weld joint and its vicinity located within the range of the field of view and the resolution. (Received February 19, 2003)

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.22-37
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• 1995

Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.

• Steel and Composite Structures
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• v.25 no.5
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• pp.535-544
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• 2017

Box sections are symmetrical sections and they have high moment of inertia in both directions, therefore they are good members in tall building structures. For the rigid connection in structures with box column continuity plates are used on level of beam flanges in column. Assembly of the continuity plates is a difficult and unreliable work due to lack of weld or high welding and cutting in the fourth side of column in panel zone, so the use of experimental stiffeners have been considered by researchers. This paper presented an experimental investigation on connection in box columns. The proposed connection has been investigated in four cases which contain connection without internal and external stiffeners(C-0-00), connection with continuity plates(C-I-CP), connection with external vase shape stiffener (C-E-VP) and connection with surrounding plates(C-E-SP). The results show that the connections with vase plates and surrounding plates can respectively increase the ultimate strength of the connection up to 366% and 518% than the connection without stiffeners, in case connection with the continuity plates this parameter increases about 39%. In addition, the proposed C-E-VP and C-E-SP connection provide a rigid and safe connection to acquire rigidity of 95% and 98% respectively. But C-I-CP connection is classified as semi-rigid connections.