• Journal of Welding and Joining
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• v.28 no.2
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• pp.32-38
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• 2010

In shipbuilding industry, welding position are usually flat and vertical position at the erection stage. Application of SAW and EGW for these positions makes it possible to achieve enhanced productivity and high quality. But owing to their large size and weight it is difficult to apply these techniques in short and narrow regions. To overcome this problem, our company developed light weight and compact size 4-axis welding carriage which perform 3D weaving. The purpose of this study is to explain the development and application of intelligent welding carriage using 3D weaving pattern that can fill a large amount of welds and thereby making it possible to achieve high quality of welding. This study shows 3D weaving pattern, development of weaving database, and skill of adaptive control response for the variable gap. Also, it shows the results of procedure qualification test for the AH-grade steel when applied to the intelligent welding carriage.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.65-65
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• 2010

In shipbuilding industry, welding position are usually flat and vertical position at the erection stage. Application of SAW and EGW for these positions makes it possible to achieve enhanced productivity and high quality. But owing to their large size and weight it is difficult to apply these techniques in short and narrow regions. To overcome this problem, our company developed light weight and compact size 4-axis welding carriage which perform 3D weaving. The purpose of this study is to explain the development and application of intelligent welding carriage using 3D weaving pattern that can fill a large amount of welds and thereby making it possible to achieve high quality of welding. This study shows 3D weaving pattern, development of weaving database, and skill of adaptive control response for the variable gap. Also, it shows the results of procedure qualification test for the AH-grade steel when applied to the intelligent welding carriage.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.626-630
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• Special Issue of the Society of Naval Architects of Korea
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• 2005.06a
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• pp.171-176
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, 1-7 (mm) and inclination, 0-30 (deg). Since available conventional carriage type is limited to use below root gap of 3 (mm), only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage. current, weaving speed, dwell time and travel speed, with respect to root gap and inclination to achieve good welding qualify. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verifying the trajectory tracking accuracy of end-effector.