Development of a Portable Welding Robot with EtherCAT Interface
This paper presents a portable robot that is to use for
welding process in shipbuilding yard. It has six degree of freedom and
3kg payload capability. Its weight is 21.5kg so that human workers can
carry it to the work place. Its body mainly made of magnesium alloy
and aluminum alloy for few parts that require high strength. Since the
distance between robot and controller should be 50m at most, the robot
controller controls the robot through EtherCAT. RTX and KPA are
used for real time EtherCAT control on Windows XP. The
performance of the developed robot was satisfactory, in welding of U
type cell in shipbuilding yard.
[1] EtherCAT technology group, "EtherCAT The Ethernet Fieldbus",
http://www.ethercat.org.
[2] S.G. Robertz et al., "Industrial robot motion control with real-time Java
and EtherCAT," IEEE Conf. Emerging Technologies and Factory
Automation, 2007, pp. 1453-1456.
[3] Y. Moon et al., "A study on Development of Soft-Motor Controller using
EtherCAT," Journal of Korean institute of intelligent systems, 2007, Vol.
17, No. 6, pp. 826-831.
[4] IntervalZero website.https://www.intervalzero.com
[5] Koenig website. https://koenig-pa.com
[6] Copley Controls, "Manual: Accelnet Plus Module EtherCAT AEM"
http://www.copleycontrols.com/Motion/pdf/AEM-ds.pdf
[7] Y. Estrin et al., "Microstructure, texture and mechanical properties of the
magnesium alloy AZ31 processed by ECAP," Int. J. Materials Research,
Jan. 2008, pp. 50-55.
[1] EtherCAT technology group, "EtherCAT The Ethernet Fieldbus",
http://www.ethercat.org.
[2] S.G. Robertz et al., "Industrial robot motion control with real-time Java
and EtherCAT," IEEE Conf. Emerging Technologies and Factory
Automation, 2007, pp. 1453-1456.
[3] Y. Moon et al., "A study on Development of Soft-Motor Controller using
EtherCAT," Journal of Korean institute of intelligent systems, 2007, Vol.
17, No. 6, pp. 826-831.
[4] IntervalZero website.https://www.intervalzero.com
[5] Koenig website. https://koenig-pa.com
[6] Copley Controls, "Manual: Accelnet Plus Module EtherCAT AEM"
http://www.copleycontrols.com/Motion/pdf/AEM-ds.pdf
[7] Y. Estrin et al., "Microstructure, texture and mechanical properties of the
magnesium alloy AZ31 processed by ECAP," Int. J. Materials Research,
Jan. 2008, pp. 50-55.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:53319", author = "Juyi Park and Sang-Bum Lee and Jin-Wook Kim and Ji-Yoon Kim and Jung-Min Kim and Hee-Hwan Park and Jae-Won Seo and Gye-Hyung Kang and Soo-Ho Kim", title = "Development of a Portable Welding Robot with EtherCAT Interface", abstract = "This paper presents a portable robot that is to use for
welding process in shipbuilding yard. It has six degree of freedom and
3kg payload capability. Its weight is 21.5kg so that human workers can
carry it to the work place. Its body mainly made of magnesium alloy
and aluminum alloy for few parts that require high strength. Since the
distance between robot and controller should be 50m at most, the robot
controller controls the robot through EtherCAT. RTX and KPA are
used for real time EtherCAT control on Windows XP. The
performance of the developed robot was satisfactory, in welding of U
type cell in shipbuilding yard.", keywords = "Portable welding robot, Shipbuilding, EtherCAT", volume = "5", number = "12", pages = "2604-5", }