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Piano-playing man-simulated robot hand

A robotic hand and anthropomorphic technology, applied in the field of machinery, can solve problems such as lack of anthropomorphic features, achieve the effects of lowering the restrictions on use requirements, making the control software interface simple and easy to use, and meeting speed requirements

Inactive Publication Date: 2018-03-13
李征
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It has a total of 88 keystrokes and two pedal drives, each with a servo system, but not anthropomorphic

Method used

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  • Piano-playing man-simulated robot hand
  • Piano-playing man-simulated robot hand

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Experimental program
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Effect test

Embodiment Construction

[0014] The present invention will be further described below in conjunction with drawings and embodiments.

[0015] Such as figure 1 , In the structure of the manipulator, the finger is the focus of the design, which is divided into three knuckles: the upper joint, the middle joint and the lower joint. The cylindrical finger shape is adopted, which increases the strength of the finger while having anthropomorphic features. Each knuckle of the manipulator is designed with an angle of less than 20 degrees at the joint, so that the fingers have enough room for movement when bending. The joints of the fingers are designed with smooth edges, so that the knuckles are limited to the central axis of the fingers when they are reset.

[0016] Each mechanical finger is nested with connecting pins and rolling bearings, and the torsion spring is used to realize the reset after bending. There are fixing holes for brake wires on the upper knuckles of the five manipulators, and the brake wi...

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PUM

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Abstract

An anthropomorphic robot hand for playing the piano. Each finger of the manipulator is independently controlled and driven by a pneumatic brake line, which meets the speed requirements for the fingers of the manipulator when playing. At the same time, data gloves and orientation trackers are used to collect hand control data in a virtual reality environment, realizing a more natural control method. The hardware structure and driver of the manipulator meet the speed requirements of the piano performance for the manipulator. The designed control software interface is simple and easy to use. At the same time, the virtual reality environment established allows users to operate naturally without training without professional knowledge. The collection of motion data is completed, which reduces the requirement limit of the system.

Description

Technical field [0001] The invention relates to an anthropomorphic robotic hand for playing the piano, which is suitable for the mechanical field. Background technique [0002] With the continuous development of social economy and the great progress of modern artificial intelligence and computer science, the research and application of service robots have entered a stage of rapid development. Playing robot is a kind of service robot, has), a broad application prospect. Kuchimoto Waseda University once developed a piano playing robot, which has a relatively large international influence. It has a total of 88 keystrokes and two pedal drives, each with a servo system, but not anthropomorphic. The piano robot developed and manufactured by Mingxin University of Science and Technology and Shangyin Technology Industry-University Cooperation is controlled by linear motors and pneumatic cylinders to play the piano in an anthropomorphic way. In terms of control, it uses a pre-progra...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J9/20
CPCB25J15/0009B25J9/20
Inventor 李征
Owner 李征