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Development of a mobile welding robot for double-hull structures in shipbuilding

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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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Acknowledgments

This work was partially supported by Daewoo Shipbuilding and Marine Engineering Co., Ltd., Geoje, Korea; The Research Institute of Marine System Engineering of Seoul National University, Seoul, Korea; and the Marine Technology Education and Research Center funded by Brain Korea 21 of Seoul National University, Seoul, Korea.

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Authors and Affiliations

  1. Department of the Naval Architecture and Ocean Engineering, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea

    Namkug Ku & Sol Ha

  2. Engineering Research Institute, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea

    Ju-hwan Cha

  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

    Kyu-Yeul Lee & Tae-wan Kim

  4. School of Mechanical and Aerospace Engineering, Seoul National University, Shilim-Dong, Kwanak-gu, Seoul, 151-742, Korea

    Jongwon Kim & Donghun Lee

Authors
  1. Namkug Ku
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  2. Ju-hwan Cha
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  3. Kyu-Yeul Lee
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  4. Jongwon Kim
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  5. Tae-wan Kim
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  6. Sol Ha
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  7. Donghun Lee
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Correspondence to Ju-hwan Cha.

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Ku, N., Cha, Jh., Lee, KY. et al. Development of a mobile welding robot for double-hull structures in shipbuilding. J Mar Sci Technol 15, 374–385 (2010). https://doi.org/10.1007/s00773-010-0099-5

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  • DOI: https://doi.org/10.1007/s00773-010-0099-5

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