船体表面作业用六自由度机械臂设计与路径规划

Research on design and path planning of six degree of freedom manipulator for hull surface operation

在船舶建造、壳体喷涂和货物吊装等场景下,使用多自由度机械臂不仅能够提高工作效率,促进船舶的自动化发展,也能提高工作质量,替代工作人员进行危险作业。船体表面作业用六自由度机械臂主要负责船体表面的涂装、焊接和清洗,本文研究船体表面作业六自由度机械臂的设计与路径规划,详细讨论了六自由度机械臂工作过程的避障原理和方法。在仿真测试中,基于粒子群优化算法的船体表面用六自由度机械臂具有较好的路径规划效果,值得进一步推广和使用。

In the scenes of ship construction,shell spraying and cargo hoisting,the use of multi degree of freedom manipulator can not only improve the work efficiency and promote the development of ship automation,but also improve the work quality and replace the staff for dangerous operations.The six degree of freedom manipulator for hull surface operation is mainly responsible for hull surface coating,welding and cleaning.The research direction of this paper is the design and path planning of the six degree of freedom manipulator for hull surface operation.The obstacle avoidance principle and method of the working process of the six degree of freedom manipulator are discussed in detail.In the simulation test of this study,the six degree of freedom manipulator for hull surface based on particle swarm optimization algorithm has good path planning effect,which is worthy of further promotion and use.