Development of a Robot for Playing a Curved 3D Surface Percussion Instrument

Prakash Persad, Trichelle Seepersad, and Kelvin Loutan Jr.


Entertainment, Musical, Robotics, Kinematic, Dynamic, Simulation


In this paper, an initial design for a pair of four degree freedom arms has been proposed, the arm is used to play a curved surface percussion instrument. The transformation matrix using the D-H parameters has been provided. This method described was used to achieve the position and orientation of the end effectors for the manipulator which would be necessary to determine the arm placement for each of the notes on the playing surface. Then a kinematic and dynamic simulation was done for obtaining the angular velocities, angular accelerations and the torque profiles for each joint.

Important Links:

Go Back