This paper presents the power assistance system of working habiliment type for painting worker in ship-building. The painting worker carrying several tools such as spray gun, brush and roller should be stayed to do painting job in closed working space or inside internal wall of ship large block and in long time. Specially, the power habiliment system is realized by developing the mechanism and control technology to reduce the working load to be transferred to the muscular system of worker. And also it is developed to realize the human friendly optimal working motion. This paper shows the design of multi-axis link mechanism to do painting job of a variety of motion. It shows the control technology of painting work system to reduce the effect of the weight of painting tool and wearable painting system and the working load of painting process such as the reaction force of spray gun.

The scope of working motion is expressed in the angle of handling tool motion to move in required conditions with carrying a variety of tools such as hammer, grinder and roller. As this scope becomes larger and it is possible to do the handling work in complex shape and narrow block space. The driving axis of working motion is