PERTINENT INFORMATION - P-Division-2018-2019/Team-12 GitHub Wiki

  1. PROBLEM DEFINITION:

1.1 NEED STATEMENT:

For an upcoming event in KLETECH, there is a need for robot which can play musical instruments to entertain audience.

GATHER PERTINENT INFORMATION -

PIANO PLAYING ROBOTIC HAND :

  1. INTRODUCTION :

This project was done based on the development of the robotic based system in domestic and international media with applications ranging from education, entertainment, medical care to home care service.In the future, world would be opting to the trends of robotics. So as a part of it ,the project was done.

Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics research and market research agencies. So here, this project mainly focuses on the entertainment purpose.

This robot plays keyboard instrument which is an electronic keyboard with anthropomorphic approach while utilizing linear motor, step motor and pneumatic cylinder to control the mechanism of music playing robot. The mechanical-electrical system they utilized composed of computer based controllers, where two sets of linear motors sharing the same driver board are used for drive two palms.

There are five fingers with each palm, and there are one joint mechanism and one finger mechanism in each finger controlled by the system through FPGA(Field programmable gate array) which contains ten thousand to more than a million logic gates with programmable interconnection. The chip for this used is FPGA chip.

Every note on the keyboard is generated with the robot touching the key in 4 stages :

  1. Palm movement
  2. Finger pressing
  3. Finger holding
  4. Finger releasing

Upon receiving information of music note and rhythm, the system will determine next targeted position for music playing based on music note information.

ref :GOOGLE

               Fig.1 is composed with anthropomorphic approach.

  1. DESIGN OF HORIZONTAL HAND MOVEMENT :

  2. ANALYSIS OF HAND MOVING TIME:

There are numerous factors affecting the moving speed of the mechanical hand. First they excluded the weight factor and calculated the result of initial stage of hand speed. So far the hand promoter movements can follow several factors such as the interval containing seven keys (C,D,E,F,G,A,B) obtained from research on fundamental acoustic range, the time required for the hand to move from one interval to the next, the study on basic dimension of piano, the length of piano keys, and the hand moving speed from the left-most side to the right-most side. The study shows there are two stages of the sequence of hand movement as shown in Figure 2: the speed of movement from C5 to F5, and the speed of movement from F5 to C6 of the next interval.

                                              **HAND MOVEMENT MECHANISM.**