Research And Design On The Structure Of CoreXY Writing Robot System

Robot technology is a hot subject at present,is aken seriously by various research institutions in the world.With the continuous development of technology,the scope of the application of robots is constantly expanding,big to national defense,small to daily life,basically can see the figure of the robot.Robots move into human life and bring about many conveniences,which makes the robots become more and more indispensable.On the basis of studying the method of Chinese character stroke recognition,segmentation and extraction,a method of writing robot based on coordinate position method is proposed in this paper.This paper mainly studies the CoreXY structure of the writing robot,using 32 bit single chip XMC4500 as the main control chip,designed and constructed the CoreXY platform,designed the upper monitor,to designed and built the writing robot system and finally realize the writing task.First of all,in the mechanical structure,introduced the CoreXY framework and analyzed the working principle.In the electrical system,the circuit is designed to realize the communication between the two controllers.And built hardware experiment platform.Secondly,for the design of Writing robot control system,mainly around the three realization way of writing(check matrix,text-image processing,stroke realization)to expand the design of software of the whole system.For software,the man-machine interface of the control system is designed by using the GUI toolbox in MATLAB.Control program was written in use C language under the environment of DAVE3.0,It mainly includes main program and interrupt program.Then,optimized the parameters of PI controller based on GA(genetic algorithm).PI controller is a very important link in control of motor.On the basis of traditional genetic algorithm,this chapter makes some improvements and applies to the parameter optimization of the PI regulator,compared and analyzed the results.Finally,the experiment is debugged in a CoreXY robot system,and test the operation of the motor with experiments.And tried to execute the writing assignment and analyze the results,the design of the system can realize the function of writing.