Robotic Violin Player Project No. 395

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


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


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



(Wikipedia 2006) (Wikipedia 2006)



(Menuhin et al. 1976)

(Menuhin et al. 1976)


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)


BackgroundBackground

(Beyond Tomorrow 2006)


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


Current DesignCurrent Design


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


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)


Lifting MotionLifting Motion


Tilting MotionTilting Motion


Bowing motionBowing motion


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)


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


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)


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.


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


FrameFrame

AdjustableAdjustable PortablePortable Made of AluminiumMade of Aluminium


Mechanical design of fingering Mechanical design of fingering systemsystem

Overall function outlinesOverall function outlines Analysis of designAnalysis of design Motor selectionMotor selection


Why 6 fingers?Why 6 fingers?


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


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


Analysis of designAnalysis of design

Positioning of the Positioning of the fingering mechanismfingering mechanism

Guiding rodsGuiding rods Grub screwsGrub screws


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


Control SystemControl System


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


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


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


Control System of the Fingering Control System of the Fingering MotionMotion

Pulses Gate Direction pin

Trigger


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


Teaching the system to play musicTeaching the system to play music


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# #


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


Extended goalsExtended goals

Digital signal processingDigital signal processing

Generate vibratoGenerate vibrato

Expression and sensitivityExpression and sensitivity


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


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


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


Questions?Questions?

Robotic Violin Player Project No. 395

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