船舶涂装爬壁机器人系统研究及集成应用

提出一种大型船舶开放性工作面涂装爬壁机器人系统理论设计与应用方法,研究系统本体运行机理并获得满足工作特性的两项必要条件,即轮辐磁吸力及双轮驱动力矩的极小值条件。建立涂装机器人系统的功能组成及控制机理,并结合开放性工作面开展无线定位及自主规划方法研究,形成能够适应喷涂作业的机器人在线路径规划算法。并结合实际开展涂装系统集成应用测试,检测并采集系统运行过程中动力学参数,系统空间坐标轨迹路线等,实现了涂装工作路径的实时在线规划。通过试验验证了文中的系统力学特性分析及定位方法的有效性。

The Research and Integrated Application of Wall-Climbing Robot system of Ship Coating

While existing studies are mostly concernt about wall-climbing robot noumenon, this paper descibed a kind of wall-climbing robot system which is suitable for opening work face of large vessel. In order to justfy whether noumenon can meet working characteristics, the limiting condition of magnetic attraction force and drive torque on driving wheels were studied. We constructed a coating robot system of function components and controlling mechanism, meanwhile, carrying out research study of wireless positioning and automatic planing based on opening working face. The intelligence coating robot path planing algorithm was realized. We also developed integrated application test research on coating,detected and collected the kinetic parameters as well as spatial coordinates and trajectory of the robot. Thus automatic painting along planning track has been implemented. The validity of dynamic analysis and the path planing algorithm was verified by experiments.