仿人竖笛演奏机器人手设计

Design of humanoid robot hands for clarinet performance

针对竖笛演奏需要,开发出两只具有相同结构的单关节3指机器人手,采用硬质铝合金作为手指材料,利用齿形带实现手指间接驱动,采用直流伺服电机(舵机)实现手指的节律运动。针对高、中、低音及长短音需要设计了一套气流控制系统,通过气压调节实现3种对应状态,通过调节每个分支管上节流阀的开度来得到所需要的气流,产生跟实际相符的音准,HK-Ⅱ机器人手的实际运行结果完全满足需要。

Directed towards the requirements of clarinet performance, two robot hands with identical structures of 3 single jointed fingers were developed. Horniness aluminum alloy was adopted as the material of fingers, using the cog-belt to achieve the indirect drive of finger and to realize the rhythmic movements of finger by adopting the direct current servo-motor （ steering motor）. A set of airflow controlling system was designed directly against the needs on the high, medium and low tones and long or short voices. Three kinds of corresponding states were achieved through the adjustments of air pressure. To get the necessary airflow by means of adjusting the opening of throttle valve on each branching pipe, and to produce the accuracy in pitch tallies with the practice. The actual operational result of HK-II satisfied completely the requirements.