バイオリン演奏ロボットの開発

―フィンガリング用ワイヤ駆動方式１指モデルの製作―

抄録

This study reports design and fabrication of the left hand of a violin-playing robot. Our previous left hand uses a link mechanism and a rack mechanism, which are driven by RC servomotors mounted on the left hand. Since this increases the mass of the hand, it was necessary to reduce the weight of the hand to allow the left arm to move fast. Each joint of the new left finger is driven by a wire, which allows us to install the actuator outside of the hand. The mass of the fabricated left finger is small by 30 % compared with our previous hand’s finger. We conducted a step response experiment and confirmed that the finger reached to the reference angle within 0.8 ms.