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Development of a mobile welding robot for double-hull structures in shipbuilding |
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| Authors: | Namkug Ku Ju-hwan Cha Kyu-Yeul Lee Jongwon Kim Tae-wan Kim Sol Ha Donghun Lee |
| Affiliation: | 1. Department of the Naval Architecture and Ocean Engineering, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea 2. Engineering Research Institute, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea 3. Department of the Naval Architecture and Ocean Engineering, Research Institute of Marine Systems Engineering, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea 4. School of Mechanical and Aerospace Engineering, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea |
| 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. |
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