Research on Xylophone-playing Manipulator Based on Beating Keys with Single Mallet
According to requires of playing xylophone,a new type ofxylophone-playing manipulator based on beating keys with single mallet is presented.Its structure.working principle and important performance parameters are analyzed.The xylophone-playing manipulator consists of mallet-moving structure,mallet-holding structure,mallet-beating structure and controI system.By means of three servo motors being controlled respectively and encoders being used to detect positions of the ervo motors.the manipulator achieves to control movements of the mallet.These include lateral movement.Iengthwise movement and mallet-beating movement.Its control system and motion controller have also been designed and analyzed.It is designed to adopt host computer and slave computer controI mode SO that communication and data transfer mode between industriaI control computer and DSP are discussed.Inertia reducing has also been discussed.The results show that the xylophone-playing manipulator can preferably imitate a hand to play xylophone.Its synchronistic belt structure and servo control system for position and velocity ensure accurate movement positioning.It has simple structure,agile motion,Iittle inertia and accurate playing positioning.It can play some un-complex music according to music control programs in host computer.
Motion controller mallet-beating structure mallet-holding structure mallet-movingstructure
Tingjun Wang Youlian Song Zhonghai Yu Ye Wang Shaojie Xin
国际会议
The International Conference Information Computing and Automation(2007国际信息计算与自动化会议)
成都
英文
150-152
2007-12-19（万方平台首次上网日期，不代表论文的发表时间）