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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.