CAJ | 학술논문

针对水火弯板加工现状及现有的弯板机器人样机加工板型受限的问题，在新的水火弯板机器人样机机械结构的基础上，提出一种适用所有船体外板复杂曲面加工的机械行走控制策略，采用运动学和空间几何方法描述水火弯板机器人的五轴联动控制算法，实现了加工过程中互相关联的五轴的协同运动。通过采用板型实际数据进行计算验证，计算结果能准确表述各轴的位置信息，同时火枪头能准确对准钢板上的焰道加工点，保证了水火弯板机器人的自动化加工效率和质量。
침대수화만판가공현상급현유적만판궤기인양궤가공판형수한적문제，재신적수화만판궤기인양궤궤계결구적기출상，제출일충괄용소유선체외판복잡곡면가공적궤계행주공제책략，채용운동학화공간궤하방법묘술수화만판궤기인적오축련동공제산법，실현료가공과정중호상관련적오축적협동운동。통과채용판형실제수거진행계산험증，계산결과능준학표술각축적위치신식，동시화창두능준학대준강판상적염도가공점，보증료수화만판궤기인적자동화가공효솔화질량。
Aiming at the problem of the status quo of water-fire line heating system and its current limitation on patterns of decks'fabrication,based on new mechanical structure of prototype of water-fire line heating robot,a controlling strategy of mechanical motion was presented,which was adequate for all the fabrication of complex surface of decks on body of ships. The control algorithm of syn-chronous motion of five correlative axes of the line heating robot was described by using methods of kinesiology and space geometry,and its correlative motion in the fabrication process was achieved. The calculation results can precisely describe the position information of different axes by calculation verification with using practical data on patterns of decks,and the machining point can follow fire trace precisely on the steel decks to guarantee efficiency and quality of the line heating robot system's automatic fabrication.