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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Low-Noise Guitar Robot Featuring a New Class of Silent Actuators
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A Low-Noise Guitar Robot Featuring a New Class of Silent Actuators

机译：具有新型静音执行器的低噪声吉他机器人

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摘要

This paper presents the development of the automatic string-plucking system of a guitar robot, which was designed to generate music without machine noise. The soft robotics approach led to the development of a novel silent actuator that utilizes soft elastomeric cones as cushioning to prevent impact noise. We present the method to design the elastomeric cone based on nonlinear finite element analysis. The silent feature of the silent actuator was confirmed by a noise test comparing the silent actuator with the conventional ones. We also present a new design of the robot fingers, which is quiet and capable of hurdling the string in the returning stroke. To enrich the music dynamics, loudness variation was created by simple open-loop control. As a sample performance test, an accompaniment music of the song "Five Hundred Miles" was played in front of an audience for their opinions. Lastly, in a speed test, the results showed that the speed limit of the plucking fingers can reach 720 PPM. A video of the robot playing "Five Hundred Miles" can be found in: https://www.youtube.com/watch?time_continue=3&v=dwdimrP6M2U.
机译：本文介绍了吉他机器人自动弹拨系统的开发，该系统旨在产生没有机器噪音的音乐。软机器人技术导致了新型静音执行器的开发，该执行器利用软弹性锥体作为缓冲来防止撞击噪音。我们提出了一种基于非线性有限元分析的弹性锥的设计方法。通过将静音执行器与常规执行器进行比较的噪声测试，确认了静音执行器的静音功能。我们还提出了一种新的机器人手指设计，它安静且能够在回程中将琴弦弹起。为了丰富音乐动态，通过简单的开环控制创建了响度变化。作为样本性能测试，在观众面前播放了歌曲“五百英里”的伴奏音乐，以征询他们的意见。最后，在速度测试中，结果表明拔除手指的速度极限可以达到720 PPM。机器人播放“五百英里”的视频可在以下网址找到：https：//www.youtube.com/watch？time_continue = 3＆v = dwdimrP6M2U。

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