机器人写字技术及其运动参数

Robot Manipulator Lettering Technology and Motion

写字机器人是一种教学、科普设备。对写字机器人的基本结构、参数和控制系统组成进行了分析;按Denavit-Hartenberg方法建立了操作臂齐次坐标方程,进行了运动学分析,求出了运动学反解;总结了当前CAD/CAM中文字处理现状;由于直接分析TTF字体的文件格式并读出每个字的轮廓矢量是相当困难的,因此采用调用API函数GetGlyphOutline读取windows系统下TTF矢量字体的轮廓矢量或者位图。采用自编程序对点阵单线字体进行了矢量化。根据矢量化后的几何数据及写字机器人的运动方程,能够进行机器人的轨迹规划、控制等。

Lettering robot manipulator is a kind of teaching and science popularization device which is fit for schools and science museums and so on. The basic construction, parameter and control system are introduced. The homogeneous transformation equation of manipulator is created according to the Denavit-Hartenberg method, and the kinematics solution and inverse kinematics solution are analyzed. The present state of vector font handling in CAD/CAM application is summarized. Because it is difficult to analyze directly the format of TTF font file and to get the outline of a certain letter, we call the windows API function GetGlyphOutline to read the data of TTF vector font in windows system. On the dot array mongline font we have vectorize it with VC++.Through the wectorised data and kinematics equation,the track programming and control and so on can be realized.