智能三轴写字机设计

Design of Intelligent Three-axis Writing Machine

设计了一款三自由度写字机器人,可以帮助人们完成纸张上的书写或绘画需求,整体采用以LabVIEW为上位机软件开发环境,NI myRIO为下位机的控制器;该设计可以将使用者在上位机软件上自由写上想要表达的字或图转换成坐标代码,也可以利用其它数控加工软件对预期图文转换成坐标形式的G代码;在获得坐标代码后计算机通过串口或者无线的形式传给下位机进行绘制,下位机采用逐点比较法的直线与圆弧的插补作为控制原理,通过点与点的相对位置进行判断,进而控制步进电动机运动到预期位置,再由舵机实现抬笔与写字的动作,进而完成一整套流程。该设计扩展性强,可以通过更换舵机部分扩展出3D打印或激光雕刻等功能。

This design is a writing robot with three degrees of freedom.It can help people to complete the writing or drawing requirements on paper.It uses LabVIEW as the host computer software development environment and NI myRIO as the controller of the lower computer.This design allows users to freely write the words or figures they want to express on the host computer software and convert them into coordinate codes,or use other CNC processing software to convert the expected graphics and text into coordinate G codes.After obtaining the coordinate code,the computer sends it to the lower computer for drawing through serial port or wireless.The lower computer uses the point-by-point comparison method of linear and circular interpolation as the control principle,and judges by judging the relative position of the points,and then controls the stepped motor to move to the expected position.Then,the steering gear is used to lift the pen and write.And the design is highly scalable,and 3D printing or laser engraving can be expanded by replacing the servo part.