Abstract:Aiming at the problem of the status quo of water fire line heating system and its current limitation on patterns of decks’ fabrication, based on new mechanical structure of prototype of water fire line heating robot, a controlling strategy of mechanical motion was presented, which was adequate for all the fabrication of complex surface of decks on body of ships. The control algorithm of synchronous motion of five correlative axes of the line heating robot was described by using methods of kinesiology and space geometry, and its correlative motion in the fabrication process was achieved. The calculation results can precisely describe the position information of different axes by calculation verification with using practical data on patterns of decks, and the machining point can follow fire trace precisely on the steel decks to guarantee efficiency and quality of the line heating robot system’s automatic fabrication.