中文摘要：

针对个性化巧克力加工难、制作成本高的问题，以三维扫描、三维打印为主导技术，结合嵌入式系统，设计并实现了一套个性化巧克力三维打印系统．基于Kinect深度相机及外围驱动电路搭载其水平移动旋转，实现了稳定的三维扫描功能；为了适应巧克力材料的打印并提高其打印精度和效果，重新设计了三维打印喷头、改进了温度控制、热床等模块；对捕获几何数据进行算法优化，显著提高了计算效率．实验结果表明，与国内外同类技术平台相比，文中系统有更高精度的制作效果，且该平台人机交互性友好，有良好的巧克力个性化定制功能．

英文摘要：

Traditional chocolate customization is high-cost and skill-demanding. Based on 3D scanning and 3D printing technologies, with the help of embedded system, we designed and implemented an integrated personal- ized chocolate 3D printing system. Utilizing the depth camera of Microsoft Kinect and related driving circuit, our platform enhanced the stability of 3D scanning by controlling the translation and rotation of a Kinect. In order to accommodate the 3D printer to chocolate and thus to acquire better precision and effect, we redesigned the 3D printing head, and improved many modules such as temperature controlling and hot bed. The scanned geometry was optimized, which greatly improved the efficiency of the system. Comparing with similar commercial products, experiments shows that this platform enjoys better 3D printing precision, more friendly man-machine interface and provides better service of chocolate customization.