Development Of A Calligraphy Robot Based On Delta Structure

Calligraphy is a unique art in China and has a long history.However,in contemporary society where technology is rapidly developing,fewer and fewer people use brush writing,resulting in a sharp decrease in the number of calligraphy talents,which is very unfavorable for the inheritance of calligraphy.At present,industrial robot technology is developing rapidly.If industrial robots are used in the writing of calligraphy works,that is,the development of calligraphy robots,and the use of calligraphy robots to imitate human hand movements to write calligraphy works,will greatly reduce the shortage of calligraphy talents..In this paper,the Delta robot is used as the ontology to design and develop the calligraphy robot.The calligraphy robot is described in detail from the mechanical mechanism of the calligraphic robot,the kinematics analysis of the robot,the Chinese character trajectory generation and the control system.Firstly,in terms of mechanical structure,the parallel mechanism is used to enhance the flexibility and writing accuracy of the calligraphy robot.Secondly,the robot realizes the automatic pen change and automatic paper change.In the kinematics,the forward and reverse solutions of the robot motion position are derived.Workspace.In the aspect of Chinese character trajectory generation,the word library is established by the method of Chinese character stroke trajectory coordinate extraction,and the generation of Chinese characters is realized.Finally,in terms of the control system,the upper machine and the single-chip microcomputer are used to control the movement of the machine.The calligraphy robot designed by the Delta robot for the robot body is much better in flexibility than the traditional tandem robot.The basic strokes of the basic strokes are extracted to obtain the basic strokes of Chinese characters,and then these strokes are newly combined to obtain new Chinese characters,which can guarantee Chinese characters.The correctness of the stroke order.Using Visual C++ to design the control interface,visual control of the robot is more intuitive.