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摘要随着科学技术的不断发展，机器人的研究和应用已经迈向了更高更深的领域，并开始逐渐渗透到了人类生活的各个方面，因而逐渐诞生了音乐、服务、探险等等不同种类的机器人。音乐机器人富有表现力，易于互动，赢得了广泛的大众的喜爱。38513
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本文的研究目的在于设计一款拟人形态的、打击琴类的音乐演奏机器人，该款机器人通过模仿人类的不同动作，打击对应音律的琴键来实现音乐演奏。本文通过基于Arduino Mega 2560控制平台搭建一套音乐机器人系统，来实现移动互联设备的远程控制，并自主播放音乐，或通过操纵臂对不同的乐器进行演奏，实现各种演奏功能。
本文首先对国内外音乐机器人的研究现状进行了概述，介绍了本研究的目的和意义以及主要的研究内容。随后，论文对机械臂进行模型设计，包括坐标系建立、模型建立、运动学逆解和仿真模型建立四个方面。此外，介绍音乐机器人研究的总体方案设计和主体设计内容，从处理器选型、功放模块、驱动模块、解码模块和供电电源设计等方面进行了具体介绍。最后，论文介绍了是对音乐机器人软件设计，包括程序流程、初始化程序、VS1003操作、步进电机控制程序和上位机设计。
毕业论文关键字：Arduino 音乐机器人机械臂
Abstract
With the continuous development of science and technology, the research and application of robots has been towards to higher and deeper areas, and began to gradually penetrated into all aspects of human life, and then different kinds of robots have come into being, including Musical Robot, Service Robot, Adventure Robot and so on.The musical robot is expressive and easy to interact, and has won a wide range of popular love.
This study aims to design the Musical Robot, which is a humanoid form and percussion piano music playing robot, it imitates human actions and combats rhythms of the corresponding keys to realize the music playing.By building a musical robot system based on the Arduino Mega 2560 control platform, to achieve the remote control of mobile Internet devices, and play music independently, or play other different instruments by manipulator, then to get a variety of performance function.
Firstly, this study summarizes the research status of the Musical Robot both here and abroad, and introduces the purpose and significance of this research as well as the main research contents.After that, the conceptual design and the design of the subject content about Musical Robot is introduced, the selection of processor, power amplifier module, driver module, decoding module and power supply design were introduced in detail.In addition, music robot research, overall design scheme and the design of the main content is introduced, from the aspects of the selection of processor, power amplifier module, driver module, decoding module and power supply design were introduced. Finally, the paper introduces the software design of the music robot, including the program flow, the initialization procedure, the VS1003 operation, the stepping motor control program and the upper computer design.
Key words：Arduino Musical Robot Manipulator
目录
摘要 I
Abstract II
1绪论 1
1.1研究的目的和意义 1
1.2国内外研究现状 1
1.3本文主要研究内容 5
1.4 本章小结 6
2机械臂设计 7
2.1坐标系建立 7
2.2模型建立 8
2.3 运动学逆解 9
2.4本章小结 9
3 音乐机器人主体设计 10
3.1控制系统总体方案设计 10
3.2 处理器选型 11