My Final Project
Pianonator
A few months ago I started learning piano, but it hasn't gone so well. I'm going blame the lack
of determination. So I'm going to use this opportunity to build some motivation. I'm a very competitive
man, so I'll create some competition.
So what about a piano playing robot?
Oh yeah, the one on the right is me.
First sketch
The pianonator will consist of a pair of robotic hands with 10 servo-controlled fingers. The robot hands will be a model of a human hand. They will move along the keybord through a rail controlled by a stepper motor.
![Descriptimage](images/sketch_1.jpg)
Motion and Pose Analisis
![hand_position](images/hand position.jpeg)
![finger's_pose](images/finger pose.jpeg)
Week 2 - Update
First 3D models
![hand_model](images/week 2/hand_step_17.jpg)
![fingers_model](images/week 2/fingers_step_11.jpg)
![piano_model](images/week 2/piano_step_11.jpg)
![assembly_model](images/week 2/final_assembly.jpg)
Week 3 - Update
Laser cutter version3>
![hand_model_laser_cutter1](images/week 3/Imagen43.png)
![hand_model_laser_cutter2](images/week 3/Imagen44.png)
![hand_model_laser_cutter3](images/week 3/Imagen45.png)
![assembly_model_laser_cutter](images/week 3/Imagen46.jpg)
Week 4 - Update
First prototype
This is the current configuration for one of the hands of the pianonator:
![Descriptimage](images/week 4/Imagen24.png)
This configuration uses servomotors to move the fingers. I decided to use a belt and puller mechanism to transfer the movement. For the first prototype I'm going to try the movement, with a simpler design, as you can see in the following image:
![Descriptimage](images/week 4/Imagen25.png)
First, I'm going to try to control a servo motor with a simple program:
![Descriptimage](images/week 4/Imagen26.png)
Now, that with a single motor works, I'm going to try a four-servo configuration:
Now, I will arrange the servos with finger and make different tests. First moving the fingers from 0 to 90°.
![Descriptimage](images/week 4/Imagen27.png)
Then, using serial communication to move all the servos at once with a specific angle that I will provide by typing the number to the computer. This will allow me to know which set of angles are the most appropriate for my finger movements.
Finally, I have the first working prototype of the Pianonator!
Week 13 - Update
I used Wi-Fi to control the pianonator fingers.
Week 17 & 18 - Update
Electronic Design
![Descriptimage](images/project/Imagen1.jpg)
![Descriptimage](images/project/Imagen2.jpg)
Electronic Production
![Descriptimage](images/project/Imagen3.jpg)
2D Structure Design
![Descriptimage](images/project/Imagen4.jpg)
![Descriptimage](images/project/Imagen5.jpg)
![Descriptimage](images/project/Imagen6.jpg)
Laser Cut
![Descriptimage](images/project/Imagen7.jpg)
3D Design
![Descriptimage](images/project/Imagen8.jpg)
3D Printing
![Descriptimage](images/project/Imagen9.jpg)
System Integration
![Descriptimage](images/project/Imagen10.jpg)
![Descriptimage](images/project/Imagen11.jpg)
A boton starts the pianonator
![Descriptimage](images/project/input.jpeg)
Test
Final Project - Pianonator
![Descriptimage](images/project/Imagen12.jpg)
![Descriptimage](images/project/Imagen13.jpg)
Bill of Materials
![Descriptimage](images/week 16/Imagen6.jpg)
Slide
![Descriptimage](images/project/presentation2.png)
video
This work is under Licencia Creative Commons Atribución-NoComercial 4.0 Internacional.
Here, you can download the :