| In view of the relative lag in the study of domestic virtual studio photography robots,the virtual studio orbital photography robot is designed and developed.Based on this robot,the system performance optimization design is improved,the orbital photography robot is improved and the development of the virtual studio robot is assisted in our country.According to the conditions of virtual studio photography,this paper analyzes the photographic needs of the studio,analyzes the trajectory requirements,workspace requirements and performance requirements of the virtual studio,and designs the photographic robot’s mechanical system,electrical system and software system,and designs the structure scheme of the orbiting photographic robot for the mechanical system.According to the structural scheme of orbital photography robot,the transmission scheme of each joint is designed and the mechanical structure of orbital photography robot is designed independently.The orbital structure,chassis structure.lifting structure,pan and tilt structure,auto-focus focusing structure and level mobile detection structure,photography robotic assembly and commissioning.Based on the design of orbital photography robot,the linkage coordinate system from the orbital structure to the pan and tilt structure is established by using the D-H method,and its kinematics and dynamics are analyzed.Based on the prototype of the assembled orbiting photogrammetric robot,the robot was tested.By collecting the noises of different movement states of the orbiting photographic robot,the noise source of the corresponding motion state is analyzed and mute design is made.By observing the jitter of the picture taken by the camera during different motion states,the reason of affecting the lens stability is analyzed.Track,chassis,train wheel,pan and tilt structure were analyzed and optimized.The accuracy of different motion states of photographic robots was collected.The horizontal movement detection structure,wheel hardness and the structure of the pan and tilt Structural are optimized.Taking the optimized robot as the research object,the failure modes of the robot and the failure of multi-performance parameters are analyzed,the reliability model of the robot system is established,the reliability analysis of the robot system is carried out.The two sets of data collected are dealed with by virtual augmentation method.The reliability and failure rate of the head tilt table are analyzed,and the average life span is calculated. |
