木琴演奏机械手的仿真分析与设计  

Simulation Analysis and Design of Marimba Manipulator

作　　者：王廷军[1] 印松[1] 马西沛[1] 张欢欢[1] 胡申顺[1] 徐俊[1] 

机构地区：[1]上海电机学院机械学院,上海200245

出　　处：《上海电机学院学报》2011年第3期169-172,共4页Journal of Shanghai Dianji University

基　　金：国家高技术研究发展计划(863)项目资助(2007AA041600);上海市教育委员会重点学科资助(J51902)

摘　　要：利用SolidWorks软件对一种单槌击键演奏模式的木琴演奏机械手进行了仿真设计,给出了木琴、移槌装置、击槌装置和机械手支架等部分的三维造型、虚拟装配和运动仿真结果,提出了一种基于DSP芯片的机械手运动控制方案。仿真结果表明:这种机械手结构简单,运动灵活,演奏时能够快速而准确地定位击键位置,为木琴演奏机械手的设计提供理论依据。Using the software SolidWorks,this paper presents simulation analysis and design of marimba manipulator in which a key is beaten by only one mallet.The manipulator＇s three dimensional model,virtual assembly,motion simulation and structure optimization of marimba,mallet-moving device,mallet-beating device,and its bracket are discussed.The control model and motion controller are also described.A motion control method is proposed based on DSP.The results show that the manipulator has a simple structure and agility moving.It can quickly and accurately localize a poison that beats a key.The design may provide theoretical supports to marimba manipulator.

关 键 词：木琴演奏机械手 仿真分析 三维模型 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]