摘要
设计了一种两自由度写字机器人,可以很方便地完成在平面上的书写绘画任务;可以把在计算机输入的文字通过控制算法和硬件电路用步进电机带动写字笔在纸面自动地描写出来;上位机选用计算机作为主机,采用Arduino系统作为从机;在计算机上将输入的文字转换成坐标形式的G代码,在通过串口发送给下位机控制器,下位机控制器采用直线插补和圆弧形插补算法,输出控制脉冲和方向电平控制步进电机前进或者后退;步进电机是由脉冲控制的,每发来一个脉冲就前进一步,实现了对距离的精确控制;还可以拓展一轴,加入Z轴理论上可以实现3D打印功能,把写字笔换成雕刻刀或者是激光头可以雕刻立体作品,拓展功能丰富。
Design two degrees of freedom to writing robot which can easily complete the task of writing drawing on a plane. You can put in the text entered by computer control algorithms and hardware circuit and the stepping motor drive styluses automatically describe it on pa per. PC is chosen as the host computer, the system of Arduino as a slave. The text will be entered into a computer coordinates the G code, the next crew to the controller, the next bit machine controller uses serial port to send by linear interpolation and rounded interpolation algorithm, control pulse and direction output level control step stepping motor forward or backward. Stepper motor is controlled by a pulse, a pulse is sent to each step forward, allowing for precise control of the distance. It can be extended a shaft to join the Z--axis can theoretically achieve 3D printing capabilities, the writing pen or chisel into the laser bead can be carved three-dimensional works, expansion of featurerich.
出处
《计算机测量与控制》
2016年第1期266-268,共3页
Computer Measurement &Control
基金
哈尔滨工业大学研究生教育教学改革研究项目(WH2015002)
作者简介
陈玉敏（1978-），女，黑龙江人，硕士，主要从事控制科学与工程方向的研究。
