• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.231-234
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• 2004

Ratio that robot occupies is low level worldwide fairly in suspension wire, electricity electron and neutralization learning industry and domestic industry of this is staring in average love. Can speak that grafting of robotic machine and neutralization learning industry is high in terms of side of creation of the added value or progress of technology rightly hereupon. This research raises or designed multi-function handling robot that can make welding, assembly conveniently catching large size work water

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.719-723
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• 1997

The welding automation in ship manufacturing process,especially in the sub-assembly line is considered to be a difficult job because the welding part is too huge, various, unstructured for a welding robot to weld fully automatically. The weld orocess at the sub-assembly line for ship manufacturing is to joint the various stiffener on the base panel. In order to realize automatic robot weld in sub-assembly line, robot have to equip with the sensing system to recognize the position of the parts. In this research,we developed a vision system to detect the position of base panle for sub-assembly line is shipbuilding process. The vision system is composed of one CCD camera attached on the base of robot, 2-500W halogen lamps for active illumination. In the image processing algorithm,the base panel is represented by two set of lines located at its two corner through hough transform. However, the various noise line caused by highlight,scratches and stiffener,roller in conveyor, and so on is contained in the captured image, this nosie can be eliminated by region segmentation and threshold in hough transform domain. The matching process to recognize the position of weld panel is executed by finding patterns in the Hough transformed domain. The sets of experiments performed in the sub-assembly line show the effectiveness of the proposed algorithm.

• Journal of Welding and Joining
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• v.21 no.7
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• pp.21-26
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• 2003

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.2
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• pp.288-294
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• 2009

The purpose of this study is manufacturing of monolithic housing for modularization of steering gear. Monolithic housing is difficult to weld with only rotation and linear motion. It is for this reason that housing of joining parts have a slope of 76.3 degrees. For this reason, welding trajectory was measured by the cooperative controled robot system, and then allowing for measured results, we developed the dedicated system. The developed system can be welded by using only 3 axises in contrast with robot system using 8 axises in housing welding. In addition, we applied CMT and laser welding device to dedicated system and as a result of experiment, sound bead and excellent roundness could be obtained.

• Proceedings of the Korean Society of Laser Processing Conference
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• 2005.06a
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• pp.3-8
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• 2005

The robot systems are widely used in the welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact of the system which monitors the shape of the welding part is described. This system uses the line-type structured laser diode and the visual sensor. It includes the correction of radial distortion which is often found in the image from the camera with short focal length. Direct Linear Transformation (DLT) is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.6
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• pp.158-163
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• 2012

This study investigates numerical analysis for robot welder fume flow and gantry structure. The solvers are STAR-CCM+ and ANSYS workbench used on flow and structural analysis. The results show that fume is diffused in factory when the welding fume is remove at dust collector. But dust collector intercepts the fume diffusion into workroom by removing most of welding fume. Structure analysis result shows that the reinforcement rod is evaluated to main the safety by supporting sufficient structure.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.76-82
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• 2000

An arc sensor system to compensate positional errors was developed on the foundation of sensor interface system to make use of the on-line shift function of industrial welding robot. Investigating the on-line shift function, we examine the quantitative relationship between the deviation from programmed path and the correction data transferred from personal computer to robot controller. The number of input parameters for weld seam tracking can be reduced by making the relationship between the deviation and the correction data during half weaving be the function of only cross time. With the results of weld seam tracking for the butt joint with V-groove and fillet joint of sheet metal, good performance was implemented. By developing the sensor interface system to compensate the positional errors, industrial welding robot can be expected to contribute to the promotion of welding automation.

• Journal of Welding and Joining
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• v.14 no.2
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.4
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• pp.119-125
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• 2008

A new type of swivel unit is suggested in order to complement weak points of the existing. This new type of Swivel unit is developed by adopting a spring type cable which has elasticity and restoring force. To minimize the troubles in the process of manufacturing during operating the new type system, strength analysis and the check of interference between parts are accomplished with CATIA. The check of rotating performance is also carried out to determine the diameter and length of spring type cable by SimDesigner motion analysis. Swivel unit used in the robot spot welding is developed with spring type cable and its usefulness in the industrial field is verified through experiments. This system has been registered for patent.

• Proceedings of the KWS Conference
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• 2000.10a
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• pp.34-36
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• 2000

It is difficult to realize automation of welding of lattice type in shipbuilding and assembly processing of shipbuilding and steel structures. Usually, the welding parts of lattice type are welded manually. So there are limitations in continuous and stable quality controls and in increase in productivity because the welding quality depends on worker's skill. That is, automation in welding is necessary. This paper shows shows the development results of a moblie robot for welding of lattice type. Specially. algorithms for its mobile speed and seam tracking controls are introduced.