文献翻译木琴演奏机械手的仿真分析与设计.docx
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文献翻译木琴演奏机械手的仿真分析与设计.docx
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文献翻译木琴演奏机械手的仿真分析与设计
SimulationDesignandApplicationofMusicPlayingRobotBasedonSolidWorks
Abstract—Inaccordancewiththerequirementofplayingmusic,amusicplayingrobotforperformingapieceonaxylophoneisdeveloped.Theprincipleandtechniqueofsimulationdesignisintroduced.ThreedimensionsmodeloftherobotisbuiltbySolidWorkssoftware.Parameterizeddesign,virtualassembly,motionsimulationandoptimizationdesignoftherobothavebeediscussed.Diagrammaticcurveofmotionanalysesisintroduced.Displacementcurvesandvelocitycurvesaregiven.Anditscontrolsystemisdesigned.Theresultsindicatethatthemusicplayingrobotwithasingleballetcanpreferablyimitateahandtoplaymusicbybeatingkeysofaxylophone.Ithassimplestructure,agilemotionandaccurateplayingpositioning.Thesimulationmodelingandvirtualassemblyofxylophone,mallet-movingunit,malletbeatingunitandbracketcandetectproblemonstructureindesign.Transmissionrelations,interferencecheck-upandmotionsimulationensuretoaccordpreestablishedmovementprojectoftherobot.Simulationdesignshortensdesignperiodandenhancesdesignefficiency.
Keywords—SolidWorks;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
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