선박 이중저 용접부를 대상으로 한 시뮬레이션 기반의 로봇 작업성(Workability) 평가 자동화에 관한 연구

다국어 초록 (Multilingual Abstract)

In shipbuilding production, robotic welding of double-bottom structures is challenged by complex geometries, confined working spaces, and diverse welding configurations. These characteristics make it essential to evaluate the feasibility and safety of robotic operations prior to deployment. However, conventional feasibility assessments often rely on manual inspection or limited reachability checks, which are insufficient to comprehensively evaluate robotic workability in real shipyard environments.
This study proposes an automated workability evaluation system for robotic welding of U-shaped weld joints in ship double-bottom structures. The workability of robotic welding tasks is quantitatively assessed using key indicators, including reachability, posture feasibility, kinematic performance represented by manipulability index and condition number, and collision and clearance metrics. A simulation-based framework is developed to automatically generate three-dimensional weld joint models and evaluate workability under various welding conditions.
To efficiently handle multiple welding tasks, a queue-based automation scheme is introduced, enabling batch processing of workability evaluations without manual intervention. The evaluation results are recorded in structured result files, allowing analysis of robotic performance at individual evaluation points as well as overall task-level safety.
The proposed system is validated through case studies on representative weld joint types, including T1RS and T6AS, under different robot posture configurations. While reachability is generally ensured, variations in robot posture lead to differences in manipulability index, condition number, collision clearance, and overall safety scores, particularly for geometrically complex weld joints.
The developed automated workability evaluation system provides a practical and quantitative tool for pre-assessment of robotic welding tasks in shipbuilding applications and supports decision-making in robot deployment planning.

목차 (Table of Contents)

• I. 서 론 1
• 1. 연구 배경 1
• 2. 선행연구 3
• II. 선박의 이중저 U자형 용접부 4
• 1. 선박의 이중저 U자형 용접부 개요 4
• 2. U자형 용접부의 분류 6
• 3. U자형 용접부 치수 파라미터화 10
• III. 연구 목표 12
• 1. 시뮬레이션 기반의 로봇 작업성 평가 12
• IV. 로봇 프로그램 13
• 1. 로봇 프로그램 개요 13
• 2. 통합 로봇 프로그램 체계 14
• V. 로봇 시뮬레이터 17
• 1. 로봇 시뮬레이터 개요 17
• 2. Robot Program Generator 19
• 3. Robot Program Executor 25
• 4. Robot Controller 26
• 5. Weld Joint Model Generator 33
• 6. Simulator 34
• 7. UI/UX 35
• VI. 로봇 작업성 평가 자동화 시스템 37
• 1. 자동화 시스템 개요 37
• 2. 로봇 작업성 40
• VII. 시스템 개발 결과 51
• 1. Simulator 개발 결과 51
• 2. 작업성 평가 자동화 시스템 개발 결과 54
• VIII. 결 론 및 향후 연구 61
• 1. 결론 61
• 2. 향후 연구 62