곡면 용접 자동화를 위한 단일 구동 토치 각도 및 위치 제어 기구의 설계 및 시뮬레이션 = Design and Simulation of a Single-Actuator Torch Angle and Position Control Mechanism for Automated Curved-Surface Welding

다국어 초록 (Multilingual Abstract)

This study proposes an automated torch angle and position adjustment mechanism for three-dimensional curved-surface welding in shipbuilding. Designed to replace manual operations, the mechanism actively responds to the relative angle between the base plate and stiffener, enabling simultaneous control of torch orientation and positioning using a single power source. The system is integrated into a tracker consisting of a pinion-sector gear assembly for angle adjustment and a cam mechanism for position control. Dynamic simulations confirmed that the torch stably follows the stiffener angle across varying welding speeds, with smooth compensatory motion between the carriage and tracker. Furthermore, a motor-torque-based PID control was implemented, maintaining the torch angle error within 0.23° and the wire tip position error within 0.02 mm. These results verify that the proposed mechanism is highly effective for the automated welding of complex curved structures.