수직 원호 용접을 위한 메커니즘 구현에 관한 연구

One of the primary concerns for welding device design is how to reduce the distance error between welding path and a torch, especially in case that the path is composed of circular and linear combination. This study deals with a mechanism in order to reduce the tracking error at the tangent area of circular and linear path. A portable welding device, called a carriage, has designed for a specific welding path through the comparison of distance error deviation. The welding carriage for a vertical cover plate welding consists of a set of rail, a welding torch and carriage body itself.