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

Park, Ju-Yong; Lee, Yong-gu

Journal of KWJS 2009;27(6):55-61.
Published online January 13, 2010.

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

Abstract

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.

Key Words: Offshore structure, H-beam cutting, Work envelope, Articular robot, Inverse kinematics, Forward kinematics