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조선소의 대형블록 용접을 위한 인력 운반형 용접로봇 개발
박주이(Juyi Park),김진욱(Jin-Wook Kim),김정민(Jung-Min Kim),김지윤(Ji-Yoon Kim),김웅지(Woongji Kim),김수호(Soo-Ho Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.7
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.
송중록(Zenglu Song),조종두(Chongdu Cho),반강(Qiang Pan),김재민(Jaemin Kim),김웅지(Woongji Kim) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
A wireless magnetic torque sensor is utilized to measure the torque generated in the rotating shaft in magnetic field without connecting to the shaft by any wire. In this study, a new wireless magnetic torque sensor was introduced. The structure of the sensor was explained detailed as well as its operation principle. Resulting from the torque measurement experiment results, the sensor was proven to measure the generated torque effectively. Compared with traditional contact torque sensor, the wireless one has low cost and good environment adaptation ability. Moreover, the intractable wrapping wires around the shaft are removed in this design. Hence the wireless torque sensor may be expected as a possible sensing device for many applications, such as the electric assisting rotation system in automobiles, the torque sensing system in motors, the arm rotation system in robotics and so on.