Composites Research

  • 제31권5호
  • /
  • Pages.227-237
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  • 2018
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  • 2288-2103(pISSN)
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  • 2288-2111(eISSN)
한국복합재료학회 (The Korean Society for Composite Materials)
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밀폐 공간에서 용접작업을 위한 단열 복합재 프레임의 설계 적용 연구

A Study on the Application of Thermal Insulation Composite Frame for Welding in Enclosed Space

  • Lee, Jae-Youl (Department of Mechanical Engineering, Graduate School, Hanbat National University) ;
  • Jeong, Kwang-Woo (ICT Robotics Convergence Research Center, Manufacturing Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Hong, Sung-Ho (ICT Robotics Convergence Research Center, Manufacturing Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Shin, Kwang-Bok (Department of Mechanical Engineering, Hanbat National University)
  • 투고 : 2018.08.21
  • 심사 : 2018.10.13
  • 발행 : 2018.10.31
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초록

본 논문에서는 밀폐/협소의 공간에 적용을 위한 이동형 용접 로봇의 매니퓰레이터의 경량화 및 단열 성능 확보를 위한 설계 적용 연구 내용을 나타내었다. 선박 및 해양플랜트와 같이 구조가 복합하고 협소한 공간에 대한 용접 작업을 위하여 용접사를 작업 대상물 외부에서 용접로봇을 이용한 용접작업을 위하여 다양한 로봇 플랫폼이 개발되고 있다. 일반적인 로봇의 개발 과정은 적용 환경과 요구조건을 고려하여 기계 개발, 전자 장치 개발, 제어 알고리즘 개발 및 통합 검증으로 이루어 진다. 용접로봇의 완성도 높은 개발을 위하여 로봇 플랫폼의 기본 설계에서 환경 조건을 고려한 로봇 매니퓰레이터의 경량 설계를 수행하였다. 또한, 단열성능 및 냉각 성능 확보를 위한 소재 선정과 검증, 해석 및 시험의 과정을 거처 개발된 로봇과 연구 결과를 나타내었다.

In this paper, the design application for the lightweight and insulation of the manipulator of the mobile welding robot for the closed/narrow space is presented. A variety of robotic platforms have been developed for weld-worker using a welding robot outside a workpiece for welding work in a complex and narrow space such as a ship or an offshore plant. Normally, The development process of robots consists of machine development, electronic device development, control algorithm development and integration verification considering application environment and requirements. In order to develop the robustness of the welding robot, the lightweight design of the robot manipulator considering the environmental conditions was performed in the basic design of the robot platform. Also, The results of the robot selection and validation, analysis and testing for the insulation performance and cooling performance and the results of the research are shown.

키워드

참고문헌

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