摘要：In the shipbuilding industry, welding is one of the forms of nonautomated heavy labor, and thewelding operator is required to weld indeterminate objects in a narrow working space. Therefore, it isdifficult to use large equipment, such as industrial robots. In addition, it is not easy to perform high-qualitywelding, because tracing a welding line accurately at a constant speed requires a long training period. Inthis research, the aim was to develop a welding assist device that can be applied to a welding environment.The proposed device fixes to the welding surface by magnetic force and assists semiautomatic weldingwith a magnetorheological (MR) brake.MR brakes have a sufficient response speed compared with powderbrakes, have a large output weight ratio, and are considered to be suitable for welding assistance. In thiswork, a strategy for control of path rendering and speed restriction by MR brakes is proposed. ltseffectiveness was confirmed by experiments with a prototype.
