the university of adelaide copyright © 2005 18 september, 2005 slide number 1/43 robotic violin...
TRANSCRIPT
18 September, 200518 September, 2005 The University of Adelaide Copyright © 2005 Slide Number Slide Number 11/43/43
Robotic Violin PlayerRobotic Violin PlayerProject No. 395Project No. 395
Team Members: Team Members: Boon Yao Hong, Joshua Chia, Chin Hooi Lee, Beinjy LimBoon Yao Hong, Joshua Chia, Chin Hooi Lee, Beinjy Lim
Supervisor:Supervisor:Dr. Frank WornleDr. Frank Wornle
Mechatronics Honours Project 2006Mechatronics Honours Project 2006
18 September, 200518 September, 2005 Slide Number Slide Number 22/43/43 The University of Adelaide Copyright © 2005
18 September, 200518 September, 2005 Slide Number Slide Number 33/43/43 The University of Adelaide Copyright © 2005
18 September, 200518 September, 2005 Slide Number Slide Number 44/43/43 The University of Adelaide Copyright © 2005
Seminar OutlineSeminar Outline
IntroductionIntroduction BackgroundBackground Project GoalsProject Goals Design overviewDesign overview Bowing mechanismBowing mechanism Fingering Fingering
mechanismmechanism
Control system Control system overviewoverview
SummarySummary ConclusionConclusion QuestionsQuestions
18 September, 200518 September, 2005 Slide Number Slide Number 55/43/43 The University of Adelaide Copyright © 2005
Background – The ViolinBackground – The Violin
Smallest and highest pitch bowed string musical Smallest and highest pitch bowed string musical instrumentinstrument
Four strings G, D, A, EFour strings G, D, A, E Right hand bowingRight hand bowing Left hand fingeringLeft hand fingering Human intelligence and expressionHuman intelligence and expression Various bowing stylesVarious bowing styles Vibrato – pitch of note varies in pulsating rhythmVibrato – pitch of note varies in pulsating rhythm
Audio sample of violin soundAudio sample of violin sound
18 September, 200518 September, 2005 Slide Number Slide Number 66/43/43 The University of Adelaide Copyright © 2005
Background – The ViolinBackground – The Violin
(Wikipedia 2006) (Wikipedia 2006)
18 September, 200518 September, 2005 Slide Number Slide Number 77/43/43 The University of Adelaide Copyright © 2005
Background – The ViolinBackground – The Violin
(Menuhin et al. 1976)
(Menuhin et al. 1976)
18 September, 200518 September, 2005 Slide Number Slide Number 88/43/43 The University of Adelaide Copyright © 2005
BackgroundBackground
Gulbransen Virtuoso Gulbransen Virtuoso Violin (QRS Music Violin (QRS Music Technologies 2005)Technologies 2005)
““KANSEI” violin playing KANSEI” violin playing robot by Shibuya Labs of robot by Shibuya Labs of Ryukoku University Ryukoku University (Shibuya Lab. 2006)(Shibuya Lab. 2006)
18 September, 200518 September, 2005 Slide Number Slide Number 99/43/43 The University of Adelaide Copyright © 2005
BackgroundBackground
(Beyond Tomorrow 2006)
18 September, 200518 September, 2005 Slide Number Slide Number 1010/43/43 The University of Adelaide Copyright © 2005
Project GoalsProject Goals
Design and build a robotic system capable of Design and build a robotic system capable of playing the violin to a given set of musical playing the violin to a given set of musical notes.notes.
Mechanical bowing systemMechanical bowing system Mechanical fingering systemMechanical fingering system Control systemControl system
18 September, 200518 September, 2005 Slide Number Slide Number 1111/43/43 The University of Adelaide Copyright © 2005
Current DesignCurrent Design
18 September, 200518 September, 2005 Slide Number Slide Number 1212/43/43 The University of Adelaide Copyright © 2005
Mechanical design of bowing armMechanical design of bowing arm
Major aspectsMajor aspects MovementsMovements Motors selectionMotors selection Motors placementMotors placement Material usedMaterial used PulleysPulleys GearsGears FrameFrame
18 September, 200518 September, 2005 Slide Number Slide Number 1313/43/43 The University of Adelaide Copyright © 2005
3 degree of freedom required3 degree of freedom required Lifting motion (Rotational motion)Lifting motion (Rotational motion) Tilting motion (Rotational motion)Tilting motion (Rotational motion) Bowing motion (linear motion)Bowing motion (linear motion)
18 September, 200518 September, 2005 Slide Number Slide Number 1414/43/43 The University of Adelaide Copyright © 2005
Lifting MotionLifting Motion
18 September, 200518 September, 2005 Slide Number Slide Number 1515/43/43 The University of Adelaide Copyright © 2005
Tilting MotionTilting Motion
18 September, 200518 September, 2005 Slide Number Slide Number 1616/43/43 The University of Adelaide Copyright © 2005
Bowing motionBowing motion
18 September, 200518 September, 2005 Slide Number Slide Number 1717/43/43 The University of Adelaide Copyright © 2005
MotorsMotors
DC motor (Bowing)DC motor (Bowing) 4.5V – 15V4.5V – 15V Gearbox combination (50:1)Gearbox combination (50:1) Torque – 362.5 (mNm)Torque – 362.5 (mNm) Speed – 252 (R.P.M)Speed – 252 (R.P.M) Weight – 156 (g)Weight – 156 (g) Size – 32.5 x 90 x 30 (mmSize – 32.5 x 90 x 30 (mm³³))
Required torque – 87.5 (mNm)Required torque – 87.5 (mNm) Required speed – 239 (R.P.M)Required speed – 239 (R.P.M)
18 September, 200518 September, 2005 Slide Number Slide Number 1818/43/43 The University of Adelaide Copyright © 2005
MotorsMotors
Servo Motor x2Servo Motor x2 4.8 – 6V4.8 – 6V Torque – 1000(mNm)Torque – 1000(mNm) Speed – 0.2sec / 60degSpeed – 0.2sec / 60deg Weight – 10 (g)Weight – 10 (g) Size - Size - 54.4 x 26.5 x 51.5mm (L x W x H)54.4 x 26.5 x 51.5mm (L x W x H)
Required Torque – 700 (mNm)Required Torque – 700 (mNm)Required Speed – 0.63sec / 60degRequired Speed – 0.63sec / 60deg
18 September, 200518 September, 2005 Slide Number Slide Number 1919/43/43 The University of Adelaide Copyright © 2005
Motors placementMotors placement
All motors are closely All motors are closely arranged.arranged. WiringWiring Ease of isolating noiseEase of isolating noise
Motors are placed at Motors are placed at one end of a pivot one end of a pivot pointpoint Reduce load of servo Reduce load of servo
motor (lifting motion)motor (lifting motion)
18 September, 200518 September, 2005 Slide Number Slide Number 2020/43/43 The University of Adelaide Copyright © 2005
PulleyPulley Center of string is Center of string is
screwed onto the screwed onto the pulley to prevent slip pulley to prevent slip while the pulley turnswhile the pulley turns
String is spooled on String is spooled on in both clockwise and in both clockwise and anti-clockwise anti-clockwise direction.direction.
18 September, 200518 September, 2005 Slide Number Slide Number 2121/43/43 The University of Adelaide Copyright © 2005
GearsGears
Additional torqueAdditional torque Gear ratio – 1:3Gear ratio – 1:3 Torque – 3 times larger Torque – 3 times larger
Provide clearanceProvide clearance Sufficient space to mount Sufficient space to mount
DC motor and Servo motorDC motor and Servo motor
18 September, 200518 September, 2005 Slide Number Slide Number 2222/43/43 The University of Adelaide Copyright © 2005
FrameFrame
AdjustableAdjustable PortablePortable Made of AluminiumMade of Aluminium
18 September, 200518 September, 2005 Slide Number Slide Number 2323/43/43 The University of Adelaide Copyright © 2005
Mechanical design of fingering Mechanical design of fingering systemsystem
Overall function outlinesOverall function outlines Analysis of designAnalysis of design Motor selectionMotor selection
18 September, 200518 September, 2005 Slide Number Slide Number 2424/43/43 The University of Adelaide Copyright © 2005
Why 6 fingers?Why 6 fingers?
18 September, 200518 September, 2005 Slide Number Slide Number 2525/43/43 The University of Adelaide Copyright © 2005
Overall function outlinesOverall function outlines
Distributes pressure Distributes pressure evenlyevenly
Latch and release Latch and release fingering actuationfingering actuation
Positioning of fingeringPositioning of fingering Control of system Control of system
actuationactuation
18 September, 200518 September, 2005 Slide Number Slide Number 2626/43/43 The University of Adelaide Copyright © 2005
Analysis of designAnalysis of design
Latch and release Latch and release mechanismmechanism Bracket supports the Bracket supports the
neck of the violinneck of the violin Lever bar pushes the Lever bar pushes the
fingering bar vertically fingering bar vertically downwardsdownwards
Spring returns the Spring returns the fingering bar to its fingering bar to its initial positioninitial position
RubberRubberLeverFingering Fingering
barbar SpringSpring
18 September, 200518 September, 2005 Slide Number Slide Number 2727/43/43 The University of Adelaide Copyright © 2005
Analysis of designAnalysis of design
Positioning of the Positioning of the fingering mechanismfingering mechanism
Guiding rodsGuiding rods Grub screwsGrub screws
18 September, 200518 September, 2005 Slide Number Slide Number 2828/43/43 The University of Adelaide Copyright © 2005
Motor selectionMotor selection
Linear solenoid, pneumatic actuation solenoid Linear solenoid, pneumatic actuation solenoid and stepper motor are consideredand stepper motor are considered
M42SP-5 Stepper motors (18V)M42SP-5 Stepper motors (18V) Holding torque - 94.1mNmHolding torque - 94.1mNm Step angle – 7.5Step angle – 7.5º/stepº/step Coil DC resistance - 100Coil DC resistance - 100ΩΩ/phase ±7%/phase ±7% Max pull-out pulse rate – 445ppsMax pull-out pulse rate – 445pps Max pull-in pulse rate – 435ppsMax pull-in pulse rate – 435pps
18 September, 200518 September, 2005 Slide Number Slide Number 2929/43/43 The University of Adelaide Copyright © 2005
Control SystemControl System
18 September, 200518 September, 2005 Slide Number Slide Number 3030/43/43 The University of Adelaide Copyright © 2005
Control SystemControl System
18 September, 200518 September, 2005 Slide Number Slide Number 3131/43/43 The University of Adelaide Copyright © 2005
Control System of the Bowing Control System of the Bowing MotionMotion
The bow should be able to follow prescribed velocity The bow should be able to follow prescribed velocity profiles thereby allowing the violin system to play at profiles thereby allowing the violin system to play at different timings, tempos and restsdifferent timings, tempos and rests
18 September, 200518 September, 2005 Slide Number Slide Number 3232/43/43 The University of Adelaide Copyright © 2005
Control System of the Tilting Control System of the Tilting and Lifting Motionand Lifting Motion
Servo motors are controlled by Pulse-width Servo motors are controlled by Pulse-width Modulation (PWM)Modulation (PWM)
Duty cycles correspond to the angle of the servo Duty cycles correspond to the angle of the servo motormotor
18 September, 200518 September, 2005 Slide Number Slide Number 3333/43/43 The University of Adelaide Copyright © 2005
Control System of the Fingering Control System of the Fingering MotionMotion
Stepper motor is programmed to turn in clockwise and anti-Stepper motor is programmed to turn in clockwise and anti-clockwise directionsclockwise directions
Clockwise motion to press and latch the finger onto the stringsClockwise motion to press and latch the finger onto the strings
Anti-clockwise motion to release the finger to original positionAnti-clockwise motion to release the finger to original position
18 September, 200518 September, 2005 Slide Number Slide Number 3434/43/43 The University of Adelaide Copyright © 2005
Control System of the Fingering Control System of the Fingering MotionMotion
Pulses Gate Direction pin
Trigger
18 September, 200518 September, 2005 Slide Number Slide Number 3535/43/43 The University of Adelaide Copyright © 2005
Teaching the System to Play MusicTeaching the System to Play Music
Involves 2 stepsInvolves 2 steps1.1. Find parameters of the bowing and fingering Find parameters of the bowing and fingering
mechanism to play each music notemechanism to play each music note
2.2. Assign those parameters to each music noteAssign those parameters to each music note
e.g. Ce.g. C##=T36 L26 B2 F3=T36 L26 B2 F3 T36 = tilting at the angle of 36 degreesT36 = tilting at the angle of 36 degrees L26 = lifting at the angle of 26 degreesL26 = lifting at the angle of 26 degrees B2 = bowing speedB2 = bowing speed F3 = finger No3 is activatedF3 = finger No3 is activated
18 September, 200518 September, 2005 Slide Number Slide Number 3636/43/43 The University of Adelaide Copyright © 2005
Teaching the system to play musicTeaching the system to play music
18 September, 200518 September, 2005 Slide Number Slide Number 3737/43/43 The University of Adelaide Copyright © 2005
Playing the MusicPlaying the Music
Send a series of music notes to the micro controllerSend a series of music notes to the micro controller e.g C e.g C # # DAGFDAGF# #
18 September, 200518 September, 2005 Slide Number Slide Number 3838/43/43 The University of Adelaide Copyright © 2005
Current WorkCurrent Work Successful in achieving:Successful in achieving:
Effective and cost efficient designEffective and cost efficient design The parameters of the bowing mechanism to play The parameters of the bowing mechanism to play
each stringeach string
Future WorkFuture Work Aims yet to achieve:Aims yet to achieve:
Further programming for the fingering actuationFurther programming for the fingering actuation An algorithm that can read a series of musical An algorithm that can read a series of musical
notes and the robot could run accordinglynotes and the robot could run accordingly
18 September, 200518 September, 2005 Slide Number Slide Number 3939/43/43 The University of Adelaide Copyright © 2005
Extended goalsExtended goals
Digital signal processingDigital signal processing
Generate vibratoGenerate vibrato
Expression and sensitivityExpression and sensitivity
18 September, 200518 September, 2005 Slide Number Slide Number 4040/43/43 The University of Adelaide Copyright © 2005
ConclusionConclusion
Robotic system capable of playing the violinRobotic system capable of playing the violin
3 main systems3 main systems
Achieve majority of fundamental goals for Achieve majority of fundamental goals for projectproject
18 September, 200518 September, 2005 Slide Number Slide Number 4141/43/43 The University of Adelaide Copyright © 2005
AcknowledgementsAcknowledgements
Dr. Frank Wornle Dr. Frank Wornle Project SupervisorProject Supervisor
Mr. Silvio De Ieso Mr. Silvio De Ieso Electronics and InstrumentationElectronics and Instrumentation
Mr. George Osborne Mr. George Osborne Mechanical DesignMechanical Design
18 September, 200518 September, 2005 Slide Number Slide Number 4242/43/43 The University of Adelaide Copyright © 2005
List of referencesList of references
Beyond Tomorrow 2006, Beyond Tomorrow 2006, Pianola Violin, Pianola Violin, Australia, viewed 4Australia, viewed 4thth September 2006, September 2006, http://www.beyondtomorrow.com.au/stories/ep30/pianola.htmlhttp://www.beyondtomorrow.com.au/stories/ep30/pianola.html
Menuhin, Y, Primrose, W & Stevens, D 1976, Menuhin, Y, Primrose, W & Stevens, D 1976, Violin and Viola, Violin and Viola, MacDonald and Jane’s, London.MacDonald and Jane’s, London.
QRS Music 2005, QRS Music 2005, The Virtuoso Violin, The Virtuoso Violin, USA, viewed 4USA, viewed 4thth September September 2006, 2006, http://http://www.qrsmusic.com/pianomation/violin.htmwww.qrsmusic.com/pianomation/violin.htm
Shibuya Laboratory 2006, Shibuya Laboratory 2006, Violin Playing Robot, Violin Playing Robot, Japan, viewed 4Japan, viewed 4thth September 2006, September 2006, http://mec3342.mecsys.ryukoku.ac.jp/sibuya/index.htmhttp://mec3342.mecsys.ryukoku.ac.jp/sibuya/index.htm
Wikipedia Free Encyclopedia 2006, Wikipedia Free Encyclopedia 2006, Violin, Violin, California, viewed 4California, viewed 4thth September 2006, September 2006, http://en.wikipedia.org/wiki/Violinhttp://en.wikipedia.org/wiki/Violin
Shibuya Laboratory 2006, Shibuya Laboratory 2006, Violin Playing Robot, Violin Playing Robot, Japan, viewed 4Japan, viewed 4thth September 2006, September 2006, http://mec3342.mecsys.ryukoku.ac.jp/sibuya/index.htmhttp://mec3342.mecsys.ryukoku.ac.jp/sibuya/index.htm