扬琴自动演奏机器人机械臂设计

Design of Mechanical Arm of Auto-Play Dulcimer Robot

为促使我国民族乐器自动演奏机器人的进一步发展,设计一种能拟人化敲击的扬琴自动演奏机器人机械臂。根据D-H参数法建立机械臂的运动学模型并求得运动学方程的正解,利用反变换法求得机械臂运动学方程的逆解,从而验证运动学模型的正确性以及为机械臂运动控制提供理论基础。利用Solidworks三维建模软件建立机械臂的虚拟样机模型,对其进行运动过程仿真,仿真结果验证了机械臂结构及连杆参数设计的合理性。制作试验样机进行实验,进一步证明机械臂设计的可行性。为扬琴自动演奏机器人机械臂的后续研究提供了理论基础。

Design a mechanical arm of auto-play dulcimer robot to improve auto-play level of national instrument, which are anthropomorphic during percussive pe^ormance.A kinematics model of the mechanical arm is established based on D-H coordinate transformation theory and the positive solution of kinetic equation verify that the kinematic equation is correct, and the problem of inverse salution for the model is solved by the counter transformation method , which provided the theoretical foundation for the mechanical arm motion control.A virtual prototype robot is established by Solidworks software and the process of percussion is simulated, motion simulation proves that the design of the structure and link parameters are reasonable.The experiment is made to prove the feasibility of the design of the mechanical arm.Provide a theoretical basis for further study of mechanical arm of auto-play dulcimer robot.