Research On The Kinetic Model Of Automatic Attitude Adjustment For Ship Block

In order to shorten the cycle of ship construction and enhance the quality of ship construction, a revolution of ship construction equipment for material processing, transportation and position has been going on. As a result, some specific equipment such as heavy plat carrier, NC frame bender and work platform for assembling oar and rudder emerged. The emergence of automatic position machine for ship block complied with the tendency of ship construction and met the need of ship block position.A shipyard proposes an equipment upgrade plan to improve the traditional ship block position process. In order to meet the needs, a new close loop servo system for ship block position via multiple synchronized automatic position vehicles with robot properties has been figured out. Ship block position system is composed of measurement system and adjustment system. In this thesis, some discussion on the automatic measurement via space geometrical relationship and observed vectors and adjustment kinetic model of position and attitude would be carried out.According to the reference, automatic measurement via observed vectors is completely possible, which can promise the accuracy for ship construction. And then the measurement model is derived from some coordinate transformation for the data from auto observing process.Refer to the theory of multi-robot coordinate movement, the adjustment model of position and attitude is established. In this model, there are two kinds of mode for adjustment, continuous adjusting mode and step adjusting mode. Both of them are designed for automatic adjustment, but the step adjusting mode can be used in the situation that the machines are in bad and inaccuracy location through the analysis of some position parameters. It means that the block still can be adjust to the right attitude and place through a few times duplicate operation without the modification of model even when the machines are in bad and inaccuracy location.At the continuous part of thesis, some simulations on the practical model are carried out in the environment of MATLAB. At the same time, some three-dimension visualized work is done, including the simulation of block adjust in step mode when the machines in good location and not.Finally, the conclusion is drawn and the tendency in automatic position machine for ship block is put out.