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Writing and painting

1 What is the scope of work

The working range is the distance that can be reached when the mechanical arm is fully extended, known as the arm length, and also known as the working space. It refers to the space that the robot can reach without installing the end effector.

2 How to confirm the initial point of writing and drawing

  • Open Elephant Luban

  • Click to enter the "WorkSpace"

  • Select the corresponding serial port,click“Connect”, after the connection is successful, you can see the prompt text next to the button

  • Click“Home”,let the machine adjust the joint to the zero position

  • Through the control panel, control the machine arm to press the drawing board gently with the pen tip, as shown in the following figure

  • Record the Cartesian space coordinate value of the current manipulator as the initial point of painting

3 Which tool to use to generate tracks

  • Download Elephant Luban and install

  • Double-click the icon to open Elephant Luban

  • After opening the software, select the language first. After selecting, click "Next" to enter the machine configuration

  • Select "Signaturepen" or "Watercolorpen" according to the actual installed tool, and click "Finish"

  • After the machine configuration is completed, click "Drawing" to enter the track generation page

  • When you enter this page for the first time, there will be instructions. Follow the instructions and click "Next"

  • In this page, there are preset basic graphics that can be used directly

  • You can also choose to import the required image. After the image is imported, Elephant Luban will automatically perform vector processing on the image

    写字画画

1 工作范围是什么

  • 工作范围即机械臂完全伸展时可达到的距离，也叫臂长，也可以被称为工作空间。它指的是在未安装末端执行器的情况下机器人可以到达的空间。

2 如何确认写字画画初始点

  • 打开Elephant Luban

  • 点击进入“工作区”

  • 选择对应串口，点击“连接”，连接成功后可看到按钮旁边有提示文字

  • 点击“回原点”，让机器调整关节零位

  • 通过控制面板，控制机器臂呈笔尖轻压画板姿势，如下图所示

  • 记录当前机械臂笛卡尔空间坐标值作为绘画初始点

  • 根据不同的图片放置位置，建议初始点位分别为

    • 1区域：[180, -100, -42]
    • 2区域：[0，-185, -42]
    • 3区域：[0, 190, -42]

    Z坐标需要根据笔夹实际安装情况设置，此处坐标仅作为参考值

3 选用什么工具生成轨迹

  • 下载Elephant Luban并进行安装

  • 双击图标打开Elephant Luban

  • 打开软件后先选择语言，这里以中文为例，选择完成后，点击“下一步”进入机器配置

  • 根据实际安装的工具选择“签字笔”或“水彩笔”，点击“完成”即可

  • 机器配置完成后，点击“写字画画”，进入轨迹生成页面

  • 初次进入此页面，会有使用指引，跟随指引点击“下一步”即可

  • 在此页面中，有预设的基础图形可直接使用

  • 也可选择导入需要的图像，图像被导入后，Elephant Luban会自动对图像进行矢量处理

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  • Move the processed image to the white sector area, that is, move the image to the working range of the manipulator

  • After confirming the image position, click "Next"

  • Select the image first, and then click "Create Toolpath"

  • Input the "Speed", "Pen Up Height","Pen Down Height" and "Init Pos" in sequence, and click "Save" after setting

  • After the path is created,click “Generate G-code and Preview” and you can see the actual effect of the track

  • Click "Export" to save the generated track.

4 How to use the generated track

There are two ways to track: 1 Used directly in the Elephant Luban workspace 2 Play tracks using myBlockly

  • How to send tracks in Elephant Luban workspace

    • Click "Export" and select "Load G-code to Workspace"

    • Enter the work area and see the actual effect of the track. Click "X" to close the preview window

    • Select the corresponding serial port and click "Connect". After the connection is successful, you can see the prompt text next to the button

    • Click“Home”,let the machine adjust the joint to the zero position

    • Click "Send to machine" to send the generated track to the machine and let the machine start writing and drawing

  • How to play tracks with myBlockly

    • Click "Export" and select "Load G-code to Workspace"

    • Save nc file

    • Double-click to open myBlockly

    • Switch machine type, select serial port and baud rate

    • After switching the machine type, there will be a prompt pop-up window, which can be closed directly

    • Drag the building block for programming, as shown in the figure below

    • Click the building block, select the track file, and complete the programming

  • 将处理完成的图像移动到白色扇形区域内，即将图像移动到机械臂的可工作范围内

  • 确认图像位置后，点击“下一步”

  • 先选中图像，然后点击“创建工具路径”

  • 依次输入速度、抬笔高度、落笔高度和初始点位，设置完成后点击“保存”

  • 路径创建完毕后，点击“生成G代码并预览”即可看到轨迹实际效果

  • 点击“导出”即可保存生成的轨迹

4 如何使用生成的轨迹

轨迹使用的方法有两种： 1 直接在Elephant Luban工作区中使用 2 用myBlockly播放轨迹

  • 如何在Elephant Luban工作区发送轨迹

    • 点击“导出”，选择“将G代码加载到工作区”

    • 进入工作区，可看到轨迹实际效果，点击“X”可关闭预览窗口

    • 选择对应串口，点击“连接”，连接成功后可看到按钮旁边有提示文字

    • 点击“回原点”，让机器调整关节零位

    • 点击“发送到机器”，即可将生成的轨迹发送给机器，让机器开始写字画画

  • 如何用myBlockly播放轨迹

    • 点击“导出”，选择“将G代码导出到文件”

    • 保存nc文件

    • 双击打开myBlockly

    • 切换机器类型，选择串口、波特率

    • 切换机器类型后，会有提示弹窗，直接关闭即可

    • 拖拽积木块进行编程，如下图所示

    • 点击积木块，选择轨迹文件，编程完成

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- Click“Run”,and you can play the track

  • 点击“Run”，即可播放轨迹

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