摘要
在分析奶油蛋糕成形规律、制作工艺基础上,提出由1台三自由度机械臂和1台四轴的运动台协同构成奶油蛋糕加工机械本体,控制系统上采用ARM微控制器和MCX514运动控制芯片作为控制系统核心硬件;软件层面上,以FreeRTOS嵌入式操作系统和GRBL数控系统作为控制系统软件框架。经接触式三点握手的基坐标系标定可实现控制机械臂和运动台协同完成奶油蛋糕成形加工。
Based on the analysis of the forming law and manufacturing technology of butter cake, a new butter cake processing machine body was proposed, consisting of a three-degree-of-freedom manipulator and a four-axis motion platform.In the control system, ARM microcontroller and MCX514 motion control chip were used as the core hardware of the control system.At the software level, FreeRTOS embedded operating system and GRBL numerical control system were used as the software framework of the control system.Through the calibration of the basic coordinate system of the contact three-point handshake, the manipulator and the motion table were cooperated to complete the butter cake processing and shaping.
作者
安嘉强
汤晓华
吴婧
杨泗萍
李天骄
AN Jia-qiang;TANG Xiao-hua;WU Jing;YANG Si-ping;LI Tian-jiao(School of Material and Mechanical Engineering, Beijing Technology and Business University, Beijing, 100048, China)
出处
《食品与机械》
北大核心
2019年第5期123-126,143,共5页
Food and Machinery
关键词
蛋糕
3D打印
机器人
数控系统
协同
cake
3D printing
robot
numerical control system
coordination
