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Donghun Sungcheul Namkuk Chaemook Kyu-Yeul Tae-Wan Jongwon Soo Ho 《Robotics and Computer》2010,26(1):13-23
Shipbuilding processes involve highly dangerous manual welding operations. Welding ship walls inside double-hulled structures presents a particularly hazardous environment for workers. This paper describes the “Rail Runner X” (RRX), a new robotic system that can move autonomously inside the walls of a double-hulled ship and automatically execute the required welding processes. The RRX robotic system is composed of a mobile platform and a welding robot consisting of a 3P3R serial manipulator. The robot is used to weld U-shaped trajectories located between two longitudinal stiffeners. The mobile platform enables traverse movements onto neighboring longitudinal stiffeners. The entire cross section of the robotic system is small enough to be placed inside the double-hulled structure via a conventional access hole from the outside shipyard floor. The overall engineering design process that led to the final robot solution developed is presented in this paper, including kinematic analysis data and experimental results for verifying the autonomous movement and welding performance. 相似文献
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Kihan Shin Sungcheul Lee Hyunpyo Shin Youngsun Yoo Jongwon Kim 《Journal of Mechanical Science and Technology》2012,26(4):1099-1106
This paper presents the dynamic analysis and kinematic parameter optimization of a coupled linkage system for the purpose of employing the system in construction industry. So far, the kinematic optimization of wheel loaders was approached heuristically rather than utilizing elaborate theoretical examinations due to the complexity of coupled linkage structures. The results of the theoretical analysis and kinematic parameter optimization are presented in this paper. A wheel loader with Z-bar linkage was analyzed. For a given end-effector path, the linkage system was optimized to carry out effective motion while exhibiting minimum power consumption during operation. A modified principle of reduced system was applied in order to execute the dynamics analysis of the coupled linkage system. As a result, an optimal Z-bar linkage structure and a distribution of power consumption within the given conditions were obtained. 相似文献
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Keyhwan Kim Sungcheul Lee Kyoubum Kim Kyu-yeul Lee Seungjin Heo Kihong Park Jay-il Jeong Jongwon Kim 《International Journal of Precision Engineering and Manufacturing》2010,11(4):519-526
We develop a new measurement system which can measure position and orientation of the end-effector of a six-axis welding robot.
The developed measurement system consists of five digital probes. The measurement values from the digital probes are transformed
into position and orientation of the end-effector with consideration of measurement system kinematics. Calibration procedure
is applied to the probe system and accuracy of the system is measured. After the calibration, the positional accuracy is observed
as 0.025mm, and the orientational accuracy is 0.075°, respectively. By using the developed measurement system, we present
an experimental result for controller gain tuning about a welding robot. We used Taguchi method to find optimal gain set and
succeeded to suppress the fluctuation of the end-effector. The fluctuation with high frequency can be reduced by 54% after
gain tuning. 相似文献
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