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

1、 music playing robot; virtual assembly;motion simulation; optimization design.I. INTRODUCTIONExtended application domains of robots is one of development trends of robot. Robot is extended to others rapidly from industry. The research and development of service robots are entering a time of speedy d

2、evelopment.Various service robots, such as family nurse robot, education robot, ciceroni robot and amusement robot are development continually. Music playing robot is a representative production of amusement robot. Now, there are some researches on keyboard instruments and chord instruments.But litt

3、le on wind instruments. In this paper, a new type of music playing robot for playing a xylophone is simulate designed and analyzed by SolidWorks software. The music robot beats keys of xylophone by only single mallet. It can imitate a hand to achieve a series of xylophone-playing actions, such as mo

4、ving mallet left and right, moving mallet forward and back and beating mallet.Virtual reality technology has played an important role in the development design of products with the development of software and hardware technology of computer now, such as virtual modeling, virtual assembly, virtual co

5、ntrol, motion simulation and etc. Some three dimensions design software can shorten design periods, reduce design cost,advance design quality. Therefore, SolidWorks software is used to design the robot through computer-aid design.SolidWorks is a type of three dimensions modeling software and it is b

6、eing used in engineering widely . It is providedwith some functions, such as three dimensions virtual modeling design of components, three dimensions virtual assembly, motion simulation and etc.II. SYSTEM OF MUSIC PLAYING ROBOTThe music playing robot that beats keys of xylophone with a single mallet

7、 mainly includes two components,namely mechanism component and control system. It concretely consists of a control computer, mallet-moving unit, mallet-beating unit, motion controller, a xylophone,bracket and etc. Xylophone is a percussion instrument consisting of a mounted row of wooden bars gradua

8、ted inlength to sound a chromatic scale, played with two small mallets or one . The robot can accomplish a series of movements of playing a xylophone by imitating a hands motions, such as mallet-moving and mallet-beating actions.It is controlled by a control computer. The computer gives music progra

9、m orders to motion controller. The motion controller drives mallet-moving unit and mallet-beating unit to do actions by turns.Optimization design of the music robot integrates elasticity theory, optimization theory, virtual modeling and finite element method. Firstly, all components of the music rob

10、ot are doing virtual modeling. Secondly, all three dimensions virtual modelings are doing virtual assembly,intervene check-up and motion simulation. These can ensure all components of the robot do no intervene and accord its preestablished actions after manufacture. Figure 1 shows the effect drawing

11、 of simulation design of the xylophone-playing robot system.Figure 1. The effect drawing of xylophone-playing robot system.III. SIMULATION DESIGN AND OPTIMIZATION DESIGNSimulation design of the music robot mainly include building xylophone substantiality model, three dimensions mallet-moving structu

12、re virtual model, three dimensions mallet-beating structure virtual model and bracket virtual model. And then do virtual assembly, intervention checking and motion simulation. SolidWorks software is used for its simulation design.The SolidWorks software has the capability of parameter drive. When a

13、design parameter of a component was modified, its detail drawing size was modified at meantime too. And components, engineering drawing and assembling drawing are renewed synchronously. It has stronger capability of complex curved surface molding. In a period of design, design details and hierarchie

14、s of components may be observed from any angle. Through three dimensions assembling drawing, transmission relation may be simulated dynamically and intervention may be checked out.A. Xylophones Substantiality ModelXylophone three dimensions model simulates a xylophone substantiality structure, inclu

15、ding all components of the xylophone. For instance, keys, xylophone bracket,resonant sound cannulations and base. The positions of all keys are vital to xylophone simulation because they can provide reliable and effective data. For insuring reasonable modeling standard, exact position and shape dime

16、nsion, topdown modeling way is adopted on design. Namely,confirming the whole assemble configuration and accessories constitutes, analyzing all design project and confirming the best one of all. After the form of assembled product is corroborated, material components is analyzedand designed in detai

17、l.Relative position of the robot and xylophone will determine whether the robot can accurately play a syllable.To ensure relative position, the reality of robot is fixed on its bracket. And all keys are joined with the bracket through xylophone bracket. The bracket of xylophone is used the order dat

18、um, but not the bracket of the robot. The periphery frame of xylophone and the order datum orientate bracket of all keys are firstly established. And then all keys of xylophone are modeling. Thirdly, the bracket of the robot is modeled in order to ensure the relative position of the robot and xyloph

19、one. The xylophone modeling effect drawing is shown in Figure 2.Figure 2. The xylophone modeling effect drawingB. Mallet-moving Unit Structure ModelMallet-moving unit is structure like a diminutive minister car-shape body. It is the key device for the robot playing.The mallet-moving unit consists of

20、 a slide seat （including a top slide block and a bottom slide block）, a coping, two synchronistic belts, two ball bearing guideways, a servo motor, a reducer, a knighthead, a fixed bracket and etc. The structure sketch of mallet-moving unit slides on its two ball bearing guideways. The motion of a s

21、lide seat is directly pulled by using of a synchronistic belt that is driven by servo motor. The slide seat is driven by a servo motor through a reducer and synchronistic belts.C. Mallet-beating Unit Structure ModelMallet-beating unit is equal to a mans wrist and the palm wrist and paw structure. It

22、 consists of a micro servo motor and a gear reducer mechanism, mallet-holding mechanism, a pedestal, a restrainer and a replacement spring. It implements a revolve movement action of beating a key by the micro servo motor. The mallet-beating unit is fixed to the slide seat of the mallet-moving unit.

23、 At meantime, it moves along with the mallet-moving unit. The weight of an object is light, its inertia is small.Therefore, it is important that reduces the weight of its mechanism. A micro servo motor is adopted. This advances position precision of the slide seat.D. Bracket Structure ModelBracket o

24、f the robot is an independence support for all mechanism. It includes bracket-pole and bracket-base. They are made of aluminium alloy. The three dimensions modeling of bracket structure is shown in Figure 1.IV. MOTION SIMULATIONAfter a accomplishing the building model and assembly of the xylophone r

25、obot, motion simulation is done by three dimensions virtual assembly and motion simulation function of SolidWorks software. Primary motion simulation checks movement of mallet-beating structure and mallet-movingstructure. After defining joints and movement manners comparatively, motion analyses prov

26、ide diagrammatic curve result. Displacement curves, velocity curves acceleration curves and load curves graph can export through solver. Figure 3and figure 4 show the displacement curve and the velocity curve of mallet-moving units.Figure 3. The displacement curve of mallet-moving unitFigure 4. The

27、velocity curve of mallet-moving unitFigure 5and figure 6 show a kind of the displacementcurve and the velocity curve of mallet-moving units.Figure 5. The angular displacement curve of mallet-beating unit.Figure 6. The angular acceleration curve of mallet-beating unitV. CONTROL SYSTEM DESIGNThe contr

28、ol system of the music playing robot accomplishes to control movements of motors. It includes an industrial control computer, a motion controller, two servo motors, four encoders and communication modules. The system adopts host computer and slave computer model.Host computer makes action with bottom controller through communication module. Bottom controller drives servo motors.Host computer plans for movement, action and movement control of robot, and deposits music program. The music program orders pass to slave computer to control the action orders, velocity and po