This paper introduces a violin playing robot that imitates the playing technique of human. A violinist learns how to play through an endless practice. A bowing velocity, bowing force, and sound point are important factors in determining the sound quality. Thus, in this paper, the sound quality has been analysed in the variable speed using the violin playing robot, where an industrial vertical multi-joint robot arm is used. Fast Fourier transform is used to convert the played sound using a 32-bit microcontroller, and then the result is compared to the natural frequency of the G string. This paper also studies the robotic hand for violin fingering. The robotic finger by constructing a 3-axis load cell at the end of finger. Based on the amplified strain gauge value, it was able to apply an appropriate force on the string when playing the violin. The robot hand that is similar to the size of a hand of adult male made a form of Anthropomorphic-dexterous. So this has a total of 12 degrees of freedom(DOF). A control method works based on Wire driven. And then, the end of the hand equipped with a 3-axis load cell to measure the force of fingertip at real-time. Lastly, this paper describes the mechanism and experimental results of anthropomorphic robotic finger, which is developed to facilitate the performance of violin playing robot. In order to present the feasibility of accurate control, a 3-axis load cell is developed and mounted at the end of finger.
展开▼
