In accordance with the requirement of playing music, a music playing robot for performing a piece on a xylophone is developed. The principle and technique of simulation design is introduced. Three dimensions model of the robot is built by SolidWorks software. Parameterized design, virtual assembly, motion simulation and optimization design of the robot have been discussed. Diagrammatic curve of motion analyses is introduced. Displacement curves and velocity curves are given. And its control system is designed. The results indicate that the music playing robot with a single ballet can preferably imitate a hand to play music by beating keys of a xylophone. It has simple structure, agile motion and accurate playing positioning. The simulation modeling and virtual assembly of xylophone, mallet-moving unit, mallet-beating unit and bracket can detect problem on structure in design. Transmission relations, interference check-up and motion simulation ensure to accord preestablished movement project of the robot. Simulation design shortens design period and enhances design efficiency.
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Wang et al. (2009) studied this question.
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