关键词: 书写机器人, 语音识别, 语音控制, 四自由度机械臂, 伺服舵机

Abstract: Concerning the problems of slow response，low accuracy，and tedious interaction when robots mimick paper writing similar to human handwriting in recent years，a four-degree-of-freedom robotic arm joint structure driven by 4 servos was proposed and a code including information such as the servo number，angle and motion running time was realized which can control the robot arm in millimeter-level stability. An intelligent writing robot system with speech control was designed and implemented，and a small robotic arm was designed to complete the writing. A Raspberry Pi 3B and a servo control board were combined to form a control module，which realized voice recognition，pronunciation comparison and correction， voice text conversion，instant voice writing，writing font switching，writing accuracy control，etc. Precision small parts in the system were made by 3D printing with 3DSMAX drawing. The system test results show that，the average speech recognition time of the designed system is 2. 36 s and the average writing time of a single character is 2. 12 s，which is comparative with handwriting under normal circumstances.

Key words: writing robot system, speech recognition, speech control, four degree of freedom manipulator, servo actuator