Hull Segment Orientation Adjustment System Based On Eight Positioner

There has been increased research interest in a new trackless hull subsection welding system consisting of eight three-dimensional adjustment machines. The new system's efficiency is significantly improved compared with the traditional system. In this paper, the new trackless system's working principle and basic process are analyzed firstly. Then the kinematic model is established. Considering the driving force constraint and the driving speed constraint, the trajectory planning of the adjustment mechanism is formulated. Finally, the placement points of each positioning machine are determined by their comprehensive stability indicators.