• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.12
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• pp.62-69
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• 2020

The demand for industrial robots is proliferating with production automation. Industrial robots are used in various fields, such as logistics, welding, and assembly. Generally, six degrees of freedom are required to move freely in space. However, the palletizing robot used for material management and logistics systems typically has four degrees of freedom. In designing such robots, their main parts, such as motors and reducers, need to be adequately selected while satisfying payload requirements and speed. Hence, this study proposes a practical method for selecting the major parts based on dynamic analysis using ADAMS. First, the acceleration torques for the robot motion were found from the analysis, and then the friction torques were evaluated. This study introduces a constant-speed torque constant instead of friction coefficient. The RMS torque and maximum power of each motor were found considering the above torques. After that, this study recommends the major specifications of all motors and reducers. The proposed method was applied to a palletizing robot to verify the suitability of the pre-selected main parts. The verification result shows that the proposed method can be successfully applied to the early design stage of industrial robots.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.218-222
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• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Journal of Welding and Joining
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• v.29 no.1
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• pp.52-58
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• 2011

In this paper, the direct bonding process between FPCB and HPCB was studied. By using an ultrasonic horn which is mounted on the ultrasonic bonding machine, it is alternatively possible to bond the gold pads attached on the FPCB and HPCB at room temperature without an adhesive like ACA or NCA. The process condition for obtaining more bonding strength than 0.6 Kgf, which is commercially required, was carried out as 40 kHz of frequency, 0.6 MPa of bonding pressure and 2 second of bonding time. The peel off test was performed for evaluating bonding strength which results in more than 0.8 Kgf.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.281-284
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• 2006

After building a ship in a shipyard, there are so many repeated inspection of welding seam defects and painting status before delivering to the ship's owner. An inspection on the bottom part of a ship in commercial service should be done in every two years for the purpose of safety and for the prevention of ship speed deterioration. conventional welding seam inspection systems are rely on the visual inspection by human or the ultrasonic inspection for the selective part of a ship. This paper suggests a remote controlled inspection system for the examination of large ships or steel structures. The proposed system moves in contact with the ship under inspection and have a CCD camera to provide visual-guidance information to a remotely located human worker. Additionally this system utilizes a weld line tracking algorithm for an optimal position control. We verified the effectiveness of the inspection system by experimental data.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.71-78
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• 2007

There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• Journal of Welding and Joining
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• v.26 no.4
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• pp.85-91
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• 2008

The grooving corrosion is caused mainly by the different microstructures between the matrix and weld which is formed during the rapid heating and cooling cycle in welding. By this localized corrosion reaction of pipes, it evolves economic problems such as the early damage of industrial facilities and pipe lines of apartment, and water pollution. So lots of researches were carried out already about grooving corrosion mechanism of ERW carbon steel pipe but there is seldom study for water hammer happened by fluid phenomenon and corrosion rate by flow velocity. In this study, the analysis based on hydrodynamic and fracture mechanics was carried out. ANSYS, FLUENT and STAR-CD were used for confirmation of flow phenomenon and stress on the pipe. As the results, fatigue failure is able to be happened by water hammer and grooving corrosion rate is increased cause by turbulent. Grooving corrosion is happened on the pipe, then friction loss of fluid is occurred from corroded part. Erosion can be happened enough in corroded region of microscopic size that wear "V" form. Also pipe is able to be damaged by water hammer effects because of corroded region is general acting as a notch effects. Corrosion depth was more than half of total thickness, it can be damaged from water hammer pressure.

• Journal of the korean Society of Automotive Engineers
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• v.3 no.1
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• pp.19-26
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• 1981

자동차제조에 있어서의 용접은 신뢰성 양산과 생력화에 대응하여 접합 조립하는 방법으로 특이한 분야를 형성하여 발전되었다. 예를 들면, 자동차의 생산은 기본적으로 양산체제를 갖추고 있 어서, 일반적으로 노동집약형 산업이라고 불리어지며 그 제조공정을 보면 stamping press 공정과 같이 용접공정도 비교적 장치산업적인 분야로 빠르게 자동화나 성인화 내지 무인화로 진행되고 있다. 자동차용접은 사람이 portable spot welder로 한점씩 용접하지만 양산에 대비한 합리화와 안정화를 위하여 다점용접 (multi spot weld)라는 자동화공법의 도입이 불가피하며 금일의 자 동차생산에 있어서 상식화가 되고 있다. 이것은 한개의 차체라면 차형의 대조 또는 press panel의 수에 따라 차이가 조금 있으나 약 4-5 천점의 점용접이 필요하기 때문에 여러 가지 반송장치와 조합하여 대규모의 line설비로 발전되어 가고 있다. 이와 같이 용접공정의 자동화는 생산성을 높이는 반면에 전용성이 높기 때문에 설계변경에 대한 초기투자의 용접설비 대부분을 갱신하여야 하는 새로운 투자의 필요문제가 증대되었다. 이러한 전용설비에 대한 유연성을 가미한 자동차로 지향되어, 그 한 방법으로 산업용 robot가 도입되었다. 근래에 와서는 자동차제조에 있어서 새 로운 용접기술을 합리적으로 효과있게 적용하는 기술이 금후의 연구과제라 하겠다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.950-955
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• 2005

This paper describes an intelligent filler wire feeding device which can control 3- dimensional seam tracking and the filler wire speed by measuring the gap position and the joint gap width in laser welding. By means of visual sensor controlled filling the missing material into the joint gap and 3 dimensional seam tracking, lineup errors from manufacturing tolerances and the repeatability of lineup jigs and weld robot can be balanced and at an even seam quality which avoids weld defects. In this paper, we assessed weld quality in 2mm sheets of A16061 which had various gap width by using the intelligent filler wire feeding device.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.82-82
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• 2009

Although leakage at a low carbon steel pipe made by electrical resistance welding(ERW) was reported due to grooving corrosion, the cause for the corrosion has not yet been cleared. So lots of researches were carried out already about grooving corrosion mechanism of ERW carbon steel pipe but there is seldom study for water hammer happened by fluid phenomenon and corrosion rate by flow velocity. In this study, the corrosion test carried out using the ERW carbon steel pipe by changed the water speed and heat input in a month. The level of dissolved oxygen is maintained 5~5.5mg/l(amount of dissolved oxygen in tap water). The water speed for corrosion test is 1m/s, 2m/s, 3m/s. As the results, grooving corrosion rate is increased cause by water speed in the pipe. In the case of the ERW pipe with more heat input, grooving corrosion rate is decreased. It is therefore that welding heat input should be controlled based on the carbon content of the pipe in order to improve the corrosion reistance of the ERW pipe.