基于Arduino控制器的双臂写字机器人开发与设计  

Development and design of double arms writing robot based on Arduino controller

作　　者：赵静 王均耀[1] ZHAO Jing;WANG Jun-yao(School of Physics and Optoelectronic Engineering,Nanjing University of Information Science&Technology,Nanjing 210044,China;Jiangsu Key Laboratory for Optoelectronic Detection of Atmosphere and Ocean,Nanjing University of Information Science&Technology,Nanjing 210044,China;Jiangsu International Joint Laboratory on Meterological Photonics and Optoelectronic Detection,Nanjing University of Information Science&Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学物理与光电工程学院,南京210044 [2]南京信息工程大学,江苏省大气海洋光电探测重点实验室,南京210044 [3]南京信息工程大学,江苏省气象光子学与光电探测国际合作联合实验室,南京210044

出　　处：《信息技术》2023年第12期8-14,共7页Information Technology

基　　金：南京信息工程大学2021年度教改项目(2021YBJG10)。

摘　　要：文中设计了一种基于Arduino控制器的写字机械臂,含左臂、右臂和控制两臂升降的抬臂。Arduino控制器输出控制脉冲和方向电平控制舵机,采用直线插补和圆弧形插补算法控制机械臂的运动落点,通过精确计算直线距离和旋转角度控制双臂协调前进后退,从起始坐标运动到目标坐标,实现所有目标字符的书写。该设计可以通过字母的组合实现单词书写,也可以通过数字组合实现时间书写及部分汉字书写。In this paper,a writing robotic arm based on Arduino controller is designed,which includes left arm and right arm,as well as a lifting arm to control arms.Arduino controller output control pulse and direction electricity flat control steering engine.Linear interpolation and circular interpolation algorithm are used to control the falling point of the robot arm movement.The control of the two arms to coordinate forward or backward is achieved through accurate calculation of linear distance and rotation angle,rom the starting coordinate movement to the target coordinate,realizing the writing of all target characters.This design can be applied to the combination of letters to achieve the writing of words,or the combination of numbers to achieve the writing of time and the writing of some Chinese words.

关 键 词：Arduino控制器 舵机 插补 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]