机械臂写字的设计与实现
Design and Implementation of Robotic Arm Writing
刘雨瑄 1朱丹 1曹金豪 1余俊伟 1刘建兵 1高宇轩1
作者信息
- 1. 南京理工大学紫金学院智能控制学院,江苏 南京 210023
- 折叠
摘要
机械臂在工业自动化中扮演关键角色,其通过提高生产效率、降低成本、提高产品质量等,为各行各业带来了显著效益,能够适当解决因我国未来人口老龄化导致的劳动力稀缺问题.在该领域,美国、日本和德国的相关技术相对成熟,而我国正处于大力发展阶段.主要研究如何使用机械臂书写字体,首先采用GB2312字库,通过Python寻找字中的特征点为路径点;其次运用多项式插值等方法进行轨迹规划,并利用MATLAB和Coppeliasim进行仿真;最后控制Mirobot机械臂完成汉字的书写.结果表明,机械臂不仅可用于写字,也可应用于在金属表面批量写下数据,或在木头、皮革等材质上激光雕刻记号等.
Abstract
Robotic arm plays a key role in industrial automation,which brings great benefits to various industries by improving productivity,reducing costs,improving product quality,etc.,and can appropriately solve the problem of labor scarcity caused by the aging population in China in the future.In this field,the relevant technologies of the United States,Japan and Germany are relatively mature,while China is in the stage of vigorous development.This paper mainly studies how to use a robotic arm to write fonts.Firstly,the GB2312 font library is used to search for feature points in the characters as path points through Python.Secondly,polynomial interpolation and other methods are used for trajectory planning,and MATLAB and Coppeliasim are used for simulation.Finally,control the Mirobot robotic arm to complete the writing of Chinese characters.The results indicate that the robotic arm can not only be used for writing,but also for batch writing data on metal surfaces,or laser engraving marks on materials such as wood and leather.
关键词
轨迹规划/特征点/MATLAB/Mirobot机械臂Key words
trajectory planning/feature points/MATLAB/Mirobot robotic arm引用本文复制引用
出版年
2024
NETL
NSTL
万方数据