船体分段机械臂划线实验研究

Study on experiment of marking by hull block manipulator

为使学生充分理解船体分段切割划线作业的工艺流程,针对划线机械臂,开展了船体分段四自由度机械臂划线实验研究。基于DELMIA仿真平台,建立了虚拟样机模型。在互不干涉和碰撞的前提下,依据划线任务设置机械臂的运动轨迹,对机械臂的划线流程进行仿真,可得到各关节运动数据;把各关节运动数据转化成机械臂能识别的代码,即可控制机械臂物理样机按仿真轨迹完成划线。结果表明,实验验证了划线方案的可行性和仿真实验的有效性,可获得合理的划线方案,通过工程实践与教学实验结合,提高了教学效果,有效地激发了学生的学习积极性,并且提升了学生利用实验方法处理实际工程问题的能力。

In order to make students fully understand the process of marking of hull block,based on the marking manipulator,the study on experiment of marking by 4-DOF manipulator of hull block is carried out. According to the simulation of DELM1A , the virtual prototypes are established. On the premise of mutual noninterference,the manipulator’s motion trail is designed according to the marking task. Then the manipulator’s motion process is simulated and the motion data of each joint is recorded. The motion data of each joint is translated into the code,so the physical manipulator can distinguish it and finish marking according to the simulation trail. The results show that the experiment verifies the feasibility of the marking scheme and the effectiveness of the simulation experiment,it can obtain rea-sonable marking scheme. The teaching effect can be improved by the teaching experiment combined with the engineering practice. Students’ interest in learning is motivated,and the ability to solve practical engineering problems by experiment is cultivated.