Research On Hull Segment Orientation Adjustment System Based On Eight Positioner

The traditional gantry hoisting technology is limited by the lifting load and transshipment capacity,so the transshipment time is longer and the efficiency is lower.Compared with the traditional hoisting method,the new hull position and attitude adjustment system introduced in this paper adopts eight NC adjusting machines,which has the advantages of convenience,rapidity,precision and reliability.The motion difference according to the initial position and posture of the target is calculated and eight adjusters is driven to coordinate to complete the attitude adjustment motion control.Firstly,the general working principle of the sectional posture adjustment system is expounded.The adjustment system is divided into subsystems,and the functional characteristics of each subsystem is ansysed.According to the decomposition task of the posture adjustment process,the corresponding hydraulic system is designed,and the realization scheme of the posture adjustment action is put forward.Secondly,the spatial kinematics model is established by homogeneous transformation of spatial coordinates and vector solution.On the basis of the spatial model,the workspace is deduced by the forward kinematics solution,and the segment adjustment is calculated by the inverse kinematics solution.The motion input at the end of the adjuster can be obtained by the segment posture adjustment.Then,through the simultaneous kinematics and dynamics model,considering the physical constraints,the attitude adjustment time is determined,and the motion trajectory of the adjuster's end is planned.Synchronization error integral compensation is used to improve the attitude adjustment accuracy of the system.By comparing the comprehensive indicators,the relationship between the system adjustment performance and the position of each adjustment point is obtained,and the optimum adjustment point is determined.Finally,the control software of the system is compiled with LabVIEW,the overall framework and functional modules are determined,the control flow is designed,and the key modules are analyzed.The real-time and accuracy of trajectory planning motion curve are verified by motion simulation of attitude adjustment process,which lays a foundation for the research and development of multi-objective three-dimensional adjustment syste m with large load.