• Journal of Welding and Joining
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• v.24 no.3
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• pp.1-4
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• 2006

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.11
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• pp.3074-3079
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• 2009

Efficient energy use becomes necessary since energy consumption has dramatically been increasing due to continuous economic development and population growth. In particular, high efficient vacuum glazing needs to be introduced to buildings where enormous energy loss occurs through windows and has been rarely used yet due to its high price and performance. Therefore, in this study, torch for glass welding was developed with CFD(Computational Fluid Dynamics) and experiments. Torch shape, nozzle diameter, nozzle arrangement etc. were mainly optimized and hydrogen-oxygen mixed gas fuels the torch. Finally, glass welding with the developed torch has been successful, showing that it can be used to develop economic vacuum glazing.

• Journal of Welding and Joining
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• v.30 no.2
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• pp.59-64
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• 2012

Welding is an essential process in the automotive industry. Most welding processes that are used for auto body are spot welding and $CO_2$ welding are used in a small part. In production field, $CO_2$ welding process is decreased and spot welding process is increased due to welding quality is poor and defects are occurred in $CO_2$ welding process frequently. But $CO_2$ welding process should be used at robot interference parts and closed parts where spot welding couldn't. Because of the 0.65mm ~ 2.0mm thickness steel sheet were used in the automotive industry, poor quality of welding area such as burn through and under fill were happened frequently in $CO_2$ process. In this paper, we will study about the penetration depth which gives a huge impact on burn through changing a degree of base metal, welding position and torch angle. Voltage, current and welding speed were fixed but degree of base metal, welding position and torch angle were changed. And Cold- Rolled(CR) steel sheet was used. Penetration depth was analysed by multiple regression analysis to derive approximate calculations. And reliability of approximate calculations were confirmed through additional experiments. As the results of this research, we confirmed the effect of torch and plate angle to bead shape. And we present a possibility that can simulate more accurate to weld geometry, as deduced the verification equations that has tolerance of less than 21.69%.

• Journal of Welding and Joining
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• v.31 no.3
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• pp.39-43
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• 2013

It is difficult to feed welding wire stably, when the distance between welding wire feeder and welding torch is far enough. In order to solve this problem, arranging a extension wire feeder between them could be one of useful methods. However, the welding wire could be twisted up in the extension cable between extension and terminal wire feeders in the case that RPM of extension wire feeding motor is higher than that of terminal motor. In this study, feeding problem of normal push-pull wire feeding system occurred at low welding current range less than 250A. In order to solve the problem, two new wire feeding systems of push-pull type were introduced. Welding wire feeding tests were preformed in the range of 150A to 400A with the developed push-pull feeding system. In addition, weldability test was performed at the welding current of 200A, 300A, and 400A. The welding wire twisting problem that was observed in the normal feeding system did not occur in the new push-pull wire feeding system.

• Journal of Welding and Joining
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• v.26 no.4
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• pp.44-49
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• 2008

Generally, wear plate is steel plate having improved surface contact strength and impact strength by surface hardening which is welded using materials with good corrosion resistance, wear resistance and thermal resistance property. CFP GMAW(Compound Filler Plate Gas Metal Arc Welding) is the cladding method using GMAW with the CFP, which is bound with waterglass, on the substrate. It has advantages of reducing compound powder loss, uniform penetration, and preventing hardness decrease. To develope mass production technique of CFP GMAW process for production of high quality wear plate, the method for controling shallow penetration and increasing productivity is required. In this study, twin torch method applied to CFP GMAW process for increasing productivity. And the method was developed by controling penetration control, CFP dry time, gas formation flux and water glass concentration. As a result, applying twin torch method to CFP GMAW process was possible and high quality wide bead could be made without overlap joint.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.35-42
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• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2701-2706
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• 2003

This paper describes weld seam tracking and error compensation methods of automatic plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Realizing automatic welding system, we are faced with two problems. One is a precise seam tracking and the other is an arc length control. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, laser vision sensor for seam tracking is equipped for sensing the seam position and controlling the height of a torch automatically. To attain more precise measurement of an arc length, we measure the 3D shape of the panel and analyze error factors according to the various panel states and caused errors are predicted through the welding process. Using that result, compensation algorithm is added to that of arc length control and real time error compensation is achieved. The result shows that these two methods work effectively.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.