| Artificial cake decorating is a technically demanding and time-consuming work.The decorating robot can replace the traditional manual operation decorating the batch of cake,to realize the automation of decorating.This paper designs a multiple degrees of freedom decorating robot as an experimental prototype,including the mechanical structure,hardware and software of the control system of decorating robot.The main research work of this paper includes the following parts:First of all,the structure design of decorating robot for experimental prototype is completed.On the basis of the completion of the system requirements analysis,3-degrees-of-freedom rectangular coordinate platform and the decorating actuator which can realize 4 buckets switch are designed.The control system can make use of multi sensor fusion technology to get the position information and working state in real time.Secondly,the hardware design of the control system of decorasting robot is completed.The hardware architecture platform is set up with the core of the Googol technology motion controller.The type selection and construction of each module are completed,including controller module,driver module,sensor module and power module.The control system can make use of multi sensor fusion technology to get the position information and working state in real time and control multi motor harmoniously to complete various motion control accurately.Thirdly,software development of the control system of decorating robot is completed.Using the Windows operating system as the software runing environment,calling dynamic link library,application software is developed on MFC.The man-machine interface is convenient for user operation,with realizing the motion control,the motion trajectory generation,the basic parameter setting,the state display,the manual control and so on.Using label controls to implement the functions of drawing and library.Further,using the Canny edge detection to realize the extraction of the contour in the picture,which make the function more rich.Finally,the preliminary decorating path planning is completed.The mathematical model of nozzle flow is established to precisely control the flow of cream.The improved dual coding genetic algorithm is applied to the decorating processing path optimization.In addition,the coding method of the genetic algorithm and the design of genetic operator are analyzed in detail.For the future of decorating path optimization,a train of thought was opened up. |
