Driving force coordinative optimization of posture adjustment mechanism of ship block based on Grey Wolf Particle Swarm Optimization algorithm

Block method of hull construction can significantly shorten the shipbuilding period and enhance construction accuracy through the collaborative operation of multiple posture adjustment mechanisms. This paper focuses on designing a posture adjustment system tailored for ship blocks. To ensure the reliability and precision of ship block docking, the mechanical performance and motion accuracy of the parallel mechanism were studied, while considering the flexible deformation that occurs during the docking process. Additionally, this paper introduces a novel Grey Wolf Particle Swarm Optimization (GWOPSO) to optimize the driving force. The algorithm introduces a novel asymmetric weight strategy (α: 0.2, β: 0.4, δ: 0.4) to balance exploration and exploitation, overcoming the limitations of medium weights in standard GWO. The simulation results show that in multi-body systems considering flexible deformation, the coordinated driving force of GWOPSO reduces the mean position error of the ship block in three degrees of freedom by 99.1%, 88.9%, and 89.1%, respectively, and reduces the mean total position error by 92.6%; In the experimental verification, the mean position error decreased from 2.126 to 0.911 mm, and the maximum error decreased from 3.561 to 1.305 mm, reducing by 57.1% and 63.3% respectively, significantly improving the docking accuracy of the ship block assembly. This innovation provides a novel solution for coordinated control of redundant actuation parallel mechanisms in heavy-load industrial scenarios.