Research On Cooperative Control Technology Of Ship's Hull Outer Surface Curved Forming Double Mechanical Arms

Ship's hull outer surface curved forming is an important part of shipbuilding,and its processing time accounts for 20%?30 of the total hull construction time.The machining of ship's hull outer surface curved forming can directly affect the manufacturing efficiency and quality of the whole ship.However,domestic and foreign shipbuilding enterprises currently rely on experienced workers to complete the ship's hull outer surface curved forming.The traditional hand-made surface forming of hull outer surface can't meet the demands of shipbuilding in terms of speed and quality.Based on this phenomenon,this paper selects double mechanical arms of model ABB1410 as research objects to study the calibration,cooperative control task planning,collision planning and experimental simulation of the double mechanical arms of the ship's hull outer plate curved forming.Firstly,the kinematics analysis and the coordinate of the base calibration are carried out for the double mechanical arms of the ship's hull outer surface curved forming.According to the characteristics of hull outer surface forming technology,the D-H method is used to build the model of the mechanical arm and conduct kinematics analysis.In order to obtain the relative base coordinate position of the double mechanical arms for task planning and cooperative operation,the spatial projection method is used to calibrate the double mechanical arms to obtain the relative position relationship of the double mechanical arms,and experimental verification was conducted in Robotstudio.Secondly,this paper studied the mission planning of the cooperative machining of the ship's hull outer surface curved forming with two robotic arms.By analyzing the requirements of the ship's hull outer surface curved forming process of hull outer plate,this paper conducted the modeling and analysis of the double mechanical arms task planning,took the shortest processing time as the optimization objective,established the objective function of the collaborative processing task planning of the double mechanical arms of ship's hull outer surface curved forming,and used the improved artificial bee colony algorithm to carry out the task planning solution simulation.By comparing with the results of genetic algorithm and artificial bee colony algorithm,this paper verify the superiority of the improved artificial bee colony algorithm.The experimental results satisfy the constraints in the task planning and prove the effectiveness and correctness of the algorithm.Then,this paper studied the cooperative collision-free motion planning of the hull outer surface curved forming with double mechanical arms.By solving the reachable space of the two arms formed by the surface of hull surface,to judge the possibility of collision between the double mechanical arms.Then,the collision detection is carried out by the simplified double mechanical arms model.Finally,the repulsion force field in the traditional artificial potential field method is improved,and the improved repulsion was introduced into the calculation as an operator.This paper calculated the adjustment quantity of the trajectory planning,adjusted the trajectory by interpolation method,and carried out simulation in MATLAB to verify the effectiveness of the improved algorithm.Finally,in the Robotstudio developed by ABB,this paper set up a simulation experiment platform for the cooperative motion of double mechanical arms of hull outer plate curved forming,and conducted simulation verification on the results of the research mission planning and collision planning.In addition,this paper conducted simulation experiment in software Robotstudio according to the actual machining situation of ship's hull outer surface curved forming,in order to make preparations for subsequent field experiments.