| There are two reasons can cause ship coating defects.One is the coat high temperature caused by the welding of the hull,and the other is the harmful chemical substances in the seawater during the navigation.Nowadays,the defects is mainly repaired by the manual grinding and spraying,but the noise spreading in the construction site,the dust in the air and the harmful chemicals in the paint is seriously threatening the health of workers,the number of workers willing to engage in relevant work is drastically reduced.Aiming at the above problems,the paper designs a robot which can automatically detect and repair the ship coating defects.It mainly studies in the trajectory planning and motion control of the robot.It realizes the intelligent control of the grinding force and the row distance when grinding wheel is walking.It also solves the interpolation problem of hooking edge and the optimization of control parameters when spraying a large plane.Besides,the paper establishes a roughness prediction model which can accurately predict the surface roughness after grinding.Firstly,this paper introduces the background and significance of the topic,along with the research status of related fields at home and abroad.It also defines the key issues to be solved.Secondly,it designs the overall plan from the mechanical system and control system.After that,the paper verifies the feasibility of the robot mechanical structure by kinematics and dynamics method.Then,the problem of trajectory planning when repairing is studied.According to the mathematical model of grinding wheel,it calculates the appropriate path interval.It establishes a neural network model for prediction of surface roughness after grinding.And it uses fuzzy control method to realize the intelligent control of the grinding force.It also plans the spraying crochet track.Finally,this paper introduces the control system of the robot,and develops the motion control program and the friendly man-machine interface. |
PDF Full Text Request