Brush Holding Device Design And Control Method Of Drawing Robot

Robots were applied to all walks of life, along with their development. Hard strokes, soft strokes and calligraphy were researched widely, but the research on brush drawing robot was rare. Chinese brush was long and soft, its control was difficult in the strokes controls. Chinese brush painting will become a new field of robot control study. Research on drawing robot involves robot kinematics, trajectory planning, image processing, pattern recognition, speech recognition, artificial intelligence and other disciplines. This thesis developed a brush drawing robot based on MuratecRAC87A. The detailed is as follows:First of all, combined with a large number of references, this thesis analyzed current situation and significance of drawing robot development.Secondly, in order to meet the requirements of the drawing robot, 3D mechanical design software was used in design of brush hold device. In the process of designs, stress analysis was used to improve parts. The maximum displacement of parts reduced on average by more than 60%, the biggest stress also reduced on average by 40%.Thirdly, mathematical model of drawing robot was build by D-H method Robotics Toolbox in MATLAB, and was used in analysis and verification of robot kinematics. Simulation of robot painting was conducted, and the proposed control method was realized.Finally, the drawing robot was tested, in which an orchid was painted. It can be found that the orchid is morbidezza, elegant, and gentle though there were only 8 strokes. Behavior-based control of brush drawing robot control method was used in the test.