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  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 조선소의 대형블록 용접을 위한 인력 운반형 용접로봇 개발
    제목(영문) Development of a Portable Welding Robot for Welding Jobs In Ship Blocks
    저자 박주이 (P.J.I ,Mechanical & Electric R&D Institute, Daewoo Shipbuilding and Marine Engineering ) ▷공저자네트워크등록하기
    김진욱 (K.J.W ,Mechanical & Electric R&D Institute, Daewoo Shipbuilding and Marine Engineering Co.Ltd. ) ▷공저자네트워크등록하기
    김정민 (Jung min Kim ,대우조선해양(주) 자동화연구소 ) ▷공저자네트워크등록하기
    김지윤 (K.J.Y ,Mechanical & Electric R&D Institute, Daewoo Shipbuilding and Marine Engineering Co.Ltd. ) ▷공저자네트워크등록하기
    김웅지 (K.W.J ,Mechanical & Electric R&D Institute, Daewoo Shipbuilding and Marine Engineering Co.Ltd. ) ▷공저자네트워크등록하기
    김수호 (SU-HU KIM ,대우조선해양주식회사 로봇연구소 ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    This paper represents a portable robot for use in the welding process of the double hulls in shipbuilding yards. It has 5 degrees of freedom and 3kg of payload. Its body weight is 17.3 [kg] so that human workers can carry it by hand to the work place. Its body is mainly made of magnesium and aluminum alloys. Since the robot is placed about 25m apart from its controller, EtherCAT is adopted for reliable connection between the robot and controller through a single light cable. RTX real-time kernel and KPA EtherCAT master are used to control the robot on a Windows XP environment. The performance of the developed robot is satisfactory to the requirement in welding tasks of U-type cells in shipbuilding yards

    keyword portable welding robot, shipbuilding, EtherCAT, double hull
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 760-766
    발표년도 2014
    국문File 국문다운로드
    영문File
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