Design Of The Mechanical Structure And Control System Of Wig-making Machine

In recent years,the consciousness of pursuing beauty and fashion has becoming more and more highly.So wig have formed a huge market as an important tool for displaying personal charisma.But planting hair is still mainly rely on manual work,so the efficiency is low and can not completely meet the needs of the market.Therefore,This paper takes the wig making machine as the research object.In order to achieve the automation of planting hair,the mechanical structure of the wig-making machine is designed,and then the embedded technology is applied to the control system of the wig-making machine.Based on the existing technology,the mechanical structure of the wig-making machine is improved and a kind of wig-making machine with five coordinate is designed,which includes three rectangular coordinates and two rotating joint coordinates.Then,the forward kinematics and inverse kinematics of the wig-making machine are analyzed.In order to realize the fixed-point insertion of the head model by wig-making machine,the insertion point and the path are planned.The method of constructing offset curves on the mesh surface of head model is used to calculate insertion points and ensure these points equidistant.A system of equations with kinematics and dynamics equations as constraints and an energy consumption function as objective function is established,and use ant colony algorithm to optimize the path of planting hair.In the control,the dual-core structure of the ARM+DSP is adopted.The STM32F103 is chosen as the host controller and the TMS320F28335 is used as the motion controller.And the CAN bus is used to communicate between the master and slave controllers.The hardware platform of the control system is established based ondual CPU in this paper.The schematic diagram of the power module,storage module,communication module,human-machine interaction module of the host controller and interface circuit,detection module of motion controller are designed by Altium Designer.The part of software mainly consist of the PC software and the control of stepping motor.First,the transplant of the embedded operating system ?C/OS-II system on the ARM platform is realized and the application tasks are designed according to the control requirements.Second,the configuration software of the VGUS is used to develop the touch screen,the user interface which meets the demand of planting hair and the related program are designed.Then the CAN bus communication between ARM and DSP is designed.At last,the acceleration and deceleration algorithm of the index is used to realize the control of the stepping motor by the DSP.The system experimental platform was set up and the feasibility of the path planning of planting hair is verified by the simulation of the ant colony algorithm.In addition,the communication between ARM and touch screen and the communication between ARM and DSP are tested.These tests verify the reliability of the control system,and provide the hardware and software foundation for the subsequent research of the wig-making mechine.