Journal of Welding and Joining

  • 제27권6호
  • /
  • Pages.55-61
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  • 2009
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  • 2466-2232(pISSN)
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  • 2466-2100(eISSN)
대한용접접합학회 (The Korean Welding and Joining Society)
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H-beam 절단용 다관절 로봇의 절단작업영역 설정에 관한 연구

A Study on the Determination of Cutting Work Envelope of Articular Robot for H-beam Cutting

  • 박주용 (한국해양대학교 조선해양시스템공학부) ;
  • 이용구 (한국해양대학교 조선해양시스템공학부)
  • Park, Ju-Yong (Div. of Naval Architecture and Ocean Systems Engineering, Korea Maritime Univ.) ;
  • Lee, Yong-Gu (Div. of Naval Architecture and Ocean Systems Engineering, Korea Maritime Univ.)
  • 발행 : 2009.12.31
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초록

This study aims for determination of cutting work envelope of an articular robot for H-beam cutting. The robot has its own work envelope. The cutting of piece with groove requires the specific position of the torch which contracts the work envelope. This study suggested the new method to determine the cutting work envelope for this case. The method simplified the problem by use of the combination of inverse kinematics and forward kinematics. The method was used for cutting the H-beam with groove. The cutting work envelope was determined easily. The result was verified by 3D simulation system which implements the articular robot with 6 axes and the H-beam in the virtual shop.

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참고문헌

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