摘要
针对当前绘图机器人体积较大、绘图平面小、只能工作于水平面等不足,提出了一种基于伺服电机驱动的悬挂式绘图机器人系统设计方法。该系统采用悬挂式设计,由电机驱动模块、图像处理模块和WIFI传输模块构成。基于系统的硬件架构,建立了绘图机器人的几何坐标系,通过对电机力矩及转速分析确立了绘图机器人的运动方程。所要绘制的目标图形经二值化、边缘细化、连续曲线检测等系列处理后转换为适合机器人执行的矢量图,下载至执行机构后便可执行绘图操作。本设计采用了带编码盘的N20金属齿轮电机,以MKR1000单片机作为电机控制器,在Matlab平台下开发了图像处理及控制程序,通过WIFI实现主机与单片机之间的无线通信。实验结果表明,设计的系统可在竖直的白板或墙壁上灵活绘图,具有绘图精度高、绘制面积大、结构简单、体积小、重量轻、成本低等特点。
Most existing drawing robots feature with large size of volume and can only work in a horizontal plane within a small operating area. In order to overcome the above shortcomings,an experimental system design method of the suspended drawing robot driven by servo motor is proposed. The system adopts a suspension design and is composed of a motor drive module,an image processing module and a WIFI transmission module. Based on the hardware architecture of the system,the geometric coordinate system of the drawing robot is set up,and the motion equations of the drawing robot are established based on the analysis of the motor torque and speed. The images to be drawn are firstly converted into vector graphs by binarization,edge thinning,continuous curve detection,etc.,then the generated vector graphs can be downloaded to the actuator to execute the drawing operation. The proposed design adopts N20 metal gear motor with code disc and uses MKR1000 single chip computer as its motor controller. Image processing and control programs are developed under Matlab platform. WIFI technology is used to realize wireless communication between host and the single chip computer. Drawing experiment results show that the designed system can flexibly draw on a vertical whiteboard or wall. It owns the characteristics of high drawing precision,large drawing area,simple structure,small size,light weight,low cost,etc.
作者
李寿杰
王艳
刘东凯
李郑
兴雷
LI Shou-jie;WANG Yan;LIU Dong-kai;LI Zheng;XING Lei(College of Information and Control Engineering,China University of Petroleum(East China),Qingdao 266580,China;Secondary vocational school of Qingdao Economic and Technology Development Zone,Qingdao 266555,China)
出处
《电子设计工程》
2020年第3期188-193,共6页
Electronic Design Engineering
基金
山东省教育学会科技教育专项课题(18-KJJY-0152)。
作者简介
李寿杰(1998-),男,山东滨州人。研究方向:智能机器人。
