文献翻译木琴演奏机械手的仿真分析与设计Word格式文档下载.docx

文献翻译木琴演奏机械手的仿真分析与设计Word格式文档下载.docx

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musicplayingrobot;

virtualassembly;

motionsimulation;

optimizationdesign.

I.INTRODUCTION

Extendedapplicationdomainsofrobotsisoneofdevelopmenttrendsofrobot.Robotisextendedtoothersrapidlyfromindustry.Theresearchanddevelopmentofservicerobotsareenteringatimeofspeedydevelopment.Variousservicerobots,suchasfamilynurserobot,educationrobot,ciceronirobotandamusementrobotaredevelopmentcontinually.Musicplayingrobotisarepresentativeproductionofamusementrobot.Now,therearesomeresearchesonkeyboardinstrumentsandchordinstruments.Butlittleonwindinstruments.Inthispaper,anewtypeofmusicplayingrobotforplayingaxylophoneissimulatedesignedandanalyzedbySolidWorkssoftware.Themusicrobotbeatskeysofxylophonebyonlysinglemallet.Itcanimitateahandtoachieveaseriesofxylophone-playingactions,suchasmovingmalletleftandright,movingmalletforwardandbackandbeatingmallet.

Virtualrealitytechnologyhasplayedanimportantroleinthedevelopmentdesignofproductswiththedevelopmentofsoftwareandhardwaretechnologyofcomputernow,suchasvirtualmodeling,virtualassembly,virtualcontrol,motionsimulationandetc.Somethreedimensionsdesignsoftwarecanshortendesignperiods,reducedesigncost,advancedesignquality.Therefore,SolidWorkssoftwareisusedtodesigntherobotthroughcomputer-aiddesign.SolidWorksisatypeofthreedimensionsmodelingsoftwareanditisbeingusedinengineeringwidely.Itisprovided

withsomefunctions,suchasthreedimensionsvirtualmodelingdesignofcomponents,threedimensionsvirtualassembly,motionsimulationandetc.

II.SYSTEMOFMUSICPLAYINGROBOT

Themusicplayingrobotthatbeatskeysofxylophonewithasinglemalletmainlyincludestwocomponents,namelymechanismcomponentandcontrolsystem.Itconcretelyconsistsofacontrolcomputer,mallet-movingunit,mallet-beatingunit,motioncontroller,axylophone,bracketandetc.Xylophoneisapercussioninstrumentconsistingofamountedrowofwoodenbarsgraduatedin

lengthtosoundachromaticscale,playedwithtwosmallmalletsorone.Therobotcanaccomplishaseriesofmovementsofplayingaxylophonebyimitatingahand’smotions,suchasmallet-movingandmallet-beatingactions.Itiscontrolledbyacontrolcomputer.Thecomputergivesmusicprogramorderstomotioncontroller.Themotioncontrollerdrivesmallet-movingunitandmallet-beatingunittodoactionsbyturns.

Optimizationdesignofthemusicrobotintegrateselasticitytheory,optimizationtheory,virtualmodelingandfiniteelementmethod.Firstly,allcomponentsofthemusicrobotaredoingvirtualmodeling.Secondly,allthreedimensionsvirtualmodelingsaredoingvirtualassembly,intervenecheck-upandmotionsimulation.Thesecanensureallcomponentsoftherobotdonointerveneandaccorditspreestablishedactionsaftermanufacture.Figure1showstheeffectdrawingofsimulationdesignofthexylophone-playingrobotsystem.

Figure1.Theeffectdrawingofxylophone-playingrobotsystem.

III.SIMULATIONDESIGNANDOPTIMIZATIONDESIGN

Simulationdesignofthemusicrobotmainlyincludebuildingxylophonesubstantialitymodel,threedimensionsmallet-movingstructurevirtualmodel,threedimensionsmallet-beatingstructurevirtualmodelandbracketvirtualmodel.Andthendovirtualassembly,interventioncheckingandmotionsimulation.SolidWorkssoftwareisusedforitssimulationdesign.

TheSolidWorkssoftwarehasthecapabilityofparameterdrive.Whenadesignparameterofacomponentwasmodified,itsdetaildrawingsizewasmodifiedatmeantimetoo.Andcomponents,engineeringdrawingandassemblingdrawingarerenewedsynchronously.Ithasstrongercapabilityofcomplexcurvedsurfacemolding.Inaperiodofdesign,designdetailsandhierarchiesofcomponentsmaybeobservedfromanyangle.Throughthreedimensionsassemblingdrawing,transmissionrelationmaybesimulateddynamicallyandinterventionmaybecheckedout.

A.Xylophone’sSubstantialityModel

Xylophonethreedimensionsmodelsimulatesaxylophonesubstantialitystructure,includingallcomponentsofthexylophone.Forinstance,keys,xylophonebracket,resonantsoundcannulationsandbase.Thepositionsofallkeysarevitaltoxylophonesimulationbecausetheycanprovidereliableandeffectivedata.Forinsuringreasonablemodelingstandard,exactpositionandshapedimension,topdownmodelingwayisadoptedondesign.Namely,confirmingthewholeassembleconfigurationandaccessoriesconstitutes,analyzingalldesignprojectandconfirmingthebestoneofall.Aftertheformofassembledproductiscorroborated,materialcomponentsisanalyzed

anddesignedindetail.

Relativepositionoftherobotandxylophonewilldeterminewhethertherobotcanaccuratelyplayasyllable.Toensurerelativeposition,therealityofrobotisfixedonitsbracket.Andallkeysarejoinedwiththebracketthroughxylophonebracket.Thebracketofxylophoneisusedtheorderdatum,butnotthebracketoftherobot.

Theperipheryframeofxylophoneandtheorderdatumorientatebracketofallkeysarefirstlyestablished.Andthenallkeysofxylophonearemodeling.Thirdly,thebracketoftherobotismodeledinordertoensuretherelativepositionoftherobotandxylophone.ThexylophonemodelingeffectdrawingisshowninFigure2.

Figure2.Thexylophonemodelingeffectdrawing

B.Mallet-movingUnitStructureModel

Mallet-movingunitisstructurelikeadiminutiveministercar-shapebody.Itisthekeydevicefortherobotplaying.Themallet-movingunitconsistsofaslideseat（includingatopslideblockandabottomslideblock）,acoping,twosynchronisticbelts,twoballbearingguideways,aservomotor,areducer,aknighthead,afixedbracketandetc.

Thestructuresketchofmallet-movingunitslidesonitstwoballbearingguideways.Themotionofaslideseatisdirectlypulledbyusingofasynchronisticbeltthatisdrivenbyservomotor.Theslideseatisdrivenbyaservomotorthroughareducerandsynchronisticbelts.

C.Mallet-beatingUnitStructureModel

Mallet-beatingunitisequaltoaman’swristandthepalmwristandpawstructure.Itconsistsofamicroservomotorandagearreducermechanism,mallet-holdingmechanism,apedestal,arestrainerandareplacementspring.Itimplementsarevolvemovementactionofbeatingakeybythemicroservomotor.Themallet-beatingunitisfixedtotheslideseatofthemallet-movingunit.Atmeantime,itmovesalongwiththemallet-movingunit.

Theweightofanobjectislight,itsinertiaissmall.Therefore,itisimportantthatreducestheweightofitsmechanism.Amicroservomotorisadopted.Thisadvancespositionprecisionoftheslideseat.

D.BracketStructureModel

Bracketoftherobotisanindependencesupportforallmechanism.Itincludesbracket-poleandbracket-base.Theyaremadeofaluminiumalloy.ThethreedimensionsmodelingofbracketstructureisshowninFigure1.

IV.MOTIONSIMULATION

Afteraaccomplishingthebuildingmodelandassemblyofthexylophonerobot,motionsimulationisdonebythreedimensionsvirtualassemblyandmotionsimulationfunctionofSolidWorkssoftware.Primarymotionsimulationchecksmovementofmallet-beatingstructureandmallet-moving

structure.Afterdefiningjointsandmovementmannerscomparatively,motionanalysesprovidediagrammaticcurveresult.Displacementcurves,velocitycurvesaccelerationcurvesandloadcurvesgraphcanexportthroughsolver.Figure3andfigure4showthedisplacementcurveandthevelocitycurveofmallet-movingunits.

Figure3.Thedisplacementcurveofmallet-movingunit

Figure4.Thevelocitycurveofmallet-movingunit

Figure5andfigure6showakindofthedisplacementcurveandthevelocitycurveofmallet-movingunits.

Figure5.Theangulardisplacementcurveofmallet-beatingunit.

Figure6.Theangularaccelerationcurveofmallet-beatingunit

V.CONTROLSYSTEMDESIGN

Thecontrolsystemofthemusicplayingrobotaccomplishestocontrolmovementsofmotors.Itincludesanindustrialcontrolcomputer,amotioncontroller,twoservomotors,fourencodersandcommunicationmodules.Thesystemadoptshostcomputerandslavecomputermodel.Hostcomputermakesactionwithbottomcontrollerthroughcommunicationmodule.Bottomcontrollerdrivesservomotors.

Hostcomputerplansformovement,actionandmovementcontrolofrobot,anddepositsmusicprogram.Themusicprogramorderspasstoslavecomputertocontroltheactionorders,velocityandpo