基于ROS的奶油裱花机器人系统架构设计

Design on the System Architecture of Cream Decorating Robot Based on ROS

面向奶油食品快速成型制作,为了降低奶油裱花食品制作对于劳动力的需求,提出了一种基于ROS的奶油裱花机器人,可应用于奶油裱花食品制作过程中的裱花工序,保证奶油裱花产品制作的质量稳定。针对奶油裱花制作过程中的特点和对于柔性的需求,融合了工业机器人、ROS、惯性导航等相关技术,对该奶油裱花机器人的硬件组成、软件架构、示教数据处理结构进行了设计。通过使用奶油裱花机器人,操作者能够轻松地实现对裱花制作过程进行示教和再现。该奶油裱花机器人硬件组成主要由示教装置、六轴工业机器人、挤出系统、上位机四大部分组成,软件架构是以ROS为基础进行设计的。

In order to reduce the need of labor for the production of cream food, a robot based on ROS cream decorating robot was presented, which can be used in the decorating process in cream decorating food production process to ensure cream mounting Flower product quality and stability. In view of the characteristics of cream decorating process and the demand for flexibility, industrial robots, ROS, inertial navigation and other related technologies to design the hardware composition, software architecture and teaching data processing structure of cream decorating robot were combined. By using a cream decorating robot, the operator can easily teach and reproduce the decorating process. The cream decorating robot hardware mainly consists of teaching device, six-axis industrial robot, extrusion system, and PC four major components, and the software architecture is based on the ROS design.