Development of a mobile welding robot for double-hull structures in shipbuilding View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2010-12

AUTHORS

Namkug Ku, Ju-hwan Cha, Kyu-Yeul Lee, Jongwon Kim, Tae-wan Kim, Sol Ha, Donghun Lee

ABSTRACT

This paper describes the development of a self-driving mobile welding robot. The robot is used to weld U-shaped welding areas in enclosed double-hull structures. In order to place itself inside the double-hull structure, the robot is capable of passing through an access hole 600 mm wide and 800 mm high. This research addresses the mechanical and control systems of the robot. The mechanical system of the robot consists of an eight-axis mobile platform, and a six-axis welding unit. The control system consists of a main controller, a welding machine controller (arc sensor board), and seam tracking sensors, i.e., a touch sensor, a laser sensor, and an arc sensor. To reduce the number of cables that would be dragged by the welding robot, the main controller is designed as an embedded type that is mounted on the back of the mobile platform. More... »

PAGES

374-385

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s00773-010-0099-5

DOI

http://dx.doi.org/10.1007/s00773-010-0099-5

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1007869799


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