%0 Journal Article
	%A 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
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 60, 2011
	%T Development of a Portable Welding Robot with EtherCAT Interface
	%U https://publications.waset.org/pdf/4207
	%V 60
	%X 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.
	%P 2594 - 2598