基于Arduino的书画机械手臂设计  

Painting and Calligraphy Manipulator Based on Arduino

作　　者：高明华[1] 杨云秀 许丽金 肖佳豪 朱琳 GAO Minghua;YANG Yunxiu;XU Lijin;XIAO Jiahao;ZHU Lin(School of Information Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学信息工程学院,南昌330013

出　　处：《实验室研究与探索》2018年第6期68-71,共4页Research and Exploration In Laboratory

基　　金：国家自然科学基金资助项目(61563014);江西省教改课题项目(JXJG-16-5-16);江西省教改项目(1103716004)

摘　　要：基于Arduino平台设计并实现了一款书画机械手臂。本系统由Web、上位机和下位机3部分组成,其中Web为社交平台,负责收集图片;上位机将收集的位图图片或者文字进行处理,转化成G代码(数控程序中的指令);下位机接收G代码后控制机械手臂完成绘制。步进电动机控制手臂在平面上的位移,舵机控制手臂抬笔落笔。输出图片形式有4种:实心(折线、逐行)、轮廓、灰度、逐点绘制。写出文字有4种:实心、轮廓、单线、点阵书写。经过试验,该机械手臂可以在任何平面上稳定地输出用户的图片或者文字,促进了人们与机械手臂的交互发展。This paper designs and implements a painting and calligraphy manipulator based on Arduino platform. The system is composed of three parts： Web,host computer,lower computer. As a social platform,Web’s responsibility is to collect images. The host computer processes the collected bitmap image or text,which ultimately converts into G code.After received the G code,the lower machine controls the manipulator to complete the drawing. Stepper motor controls arm’s motion in the plane,steering controls arm’s lift and stroke. There are four types of output images： solid（ broken line,line by line）,contour,gray,point by point mapping. There are also four types of output text： solid,contour,single line,lattice writing. After the experiments,the manipulator can output the user’s picture or text stably on any plane,and promote the interaction between people and the manipulator.

关 键 词：ARDUINO G代码 机械手臂 绘制 

分 类 号：TP293[自动化与计算机技术—检测技术与自动化装置]