Design And Research Of Desktop Soft Pen Calligraphy Robot System Based On 5-DOF Manipulator

With the rapid development of computer science and the popularization of fast typing devices such as computers and smart phones,people have fewer opportunities to write fonts with pens.As a treasure of Chinese art and culture,brush calligraphy can also be easily copied and imitated by computers,which will lead to fewer and fewer people learning brush calligraphy,which is not conducive to the education and inheritance of calligraphy culture.In response to the above problems,this article combines traditional Chinese calligraphy art with today's high-tech intelligent robots to complete the copying and creation of calligraphy through robots.The designed calligraphy robot can replace human calligraphy teachers and educate and inherit the culture of calligraphy from the perspective of the most primitive handwriting in writing.The specific research contents are as follows:(1)Analyze the kinematics of the five-degree-of-freedom manipulator used in this article.Firstly,the calligraphy robot connecting rod is analyzed concretely,and the D-H parameters of the connecting rod are established to realize the coordinate transformation between the coordinate systems of the calligraphic robot connecting rod.Then the forward and inverse solutions of the manipulator kinematics are obtained through the D-H parameters of the connecting rod and the coordinate transformation matrix.Finally,the modeling and analysis of the manipulator and the verification of the forward and inverse solutions are carried out by MATLAB.(2)Workspace analysis of the five-degree-of-freedom manipulator used in this article.First,the Monte Carlo method is used in MATLAB to solve the working space of the tip of the calligraphy robot at the tip of the calligraphy robot through the positive kinematics equation of the manipulator,and a point cloud image of the working space is obtained.Then,the XOY plane of the actual work is used to extract the boundary points of the working plane according to the line division method to obtain the working boundary of the manipulator.Finally,curve fitting is performed on the extracted boundary points of the working plane to obtain a curve fitting function.(3)In-depth study and extraction of the calligraphic font image information to be copied.Firstly,pre-process the calligraphic font image to be copied,and then extract the outline border of the calligraphic font image.Then the skeleton of the calligraphy font image is extracted by Hilditch font thinning algorithm,and then the skeleton of the font is divided into independent strokes,and the basic skeleton coordinates of these strokes are extracted,and the writing order of the font strokes is extracted according to these strokes coordinates.Finally,the maximum disc method is used to extract the width of the font strokes to solve the problem of the width of the font strokes when writing.(4)Discuss in detail the control problem of the calligraphy robot in writing the font in this paper,and complete the trajectory planning and the whole character writing experiment.Specifically,the experimental platform is first built,and then the theoretical research and experimental verification are carried out on the font handwriting width and font shape size to obtain the functional relationship between the font handwriting width and the pen depth,and the coordinate matching in pixels and length units is completed.Next is the writing trajectory planning for the calligraphy robot,which mainly includes four aspects: the trajectory planning of the stroke,the trajectory planning of the stroke writing,the trajectory planning between the connection of the strokes,and the trajectory planning of the closing stroke.Finally complete the copy writing experiment of the whole character.