Design and analysis of a passive pulling type of xylophone-playing robot

A type of passive pulling type xylophone-playing robot (PPXR) is presented based on the special demands of playing xylophone. Its integrated structure and working principle are introduced. Its control system and important performance parameters are also discussed. PPXR consists of two mallet-moving devices, two mallet-beating devices, an industry control computer, a motion controller, control software, a human body shape model and a xylophone. Positions of mallet-moving are controlled by two slide seats which are driven by two servo motors independently. Two mallet-beating devices are driven by two mini servo motors respectively. Two hands of the human body shape model are moved following with two mallet-moving devices respectively. The mallet-moving structure, mallet-beating structure and human body shape structure are designed. Its control system and motion controller have also been analyzed. Its control system adopts host computer and slave computer model. Communication and data transfer mode are discussed between industry control computer and motion controller. The results show that synchronistic belts and slide path reliably ensured position accuracy when two mallet-moving devices move. Digital signal processing chip is used for the motion controller and CAN communication bus satisfies the demand of real time performance. The robot has simple structure, agile action, little inertia and accurate playing positioning. PPXR can play some un-complex music according to music control programs in host computer.