Diseño y construcción de manos robóticas programables aplicadas al área del entretenimiento en el campo musical.

Abstract

The objective of this degree work was the design and construction of programmable robotic hands applied to the area of entertainment in the musical field. For its development, pianist robots were targeted, and through a bibliographic review of projects related to their design, the software and hardware requirements necessary for the prototype to function as a pianist robot were established. It consists of two hands and each one has a magnetic sensor that allows its initial positioning using as a reference a guide finger which must reach an initial key, for its displacement in the x axis, it uses a stepper motor that incorporates an endless lineal screw, it also has four fingers which are actuated by servomotors allowing displacement in the z axis to play the white keys of the piano, as a controller ESP32 development cards were used for each hand which are distributed as master and slave modules, the master module is the only one that has a Wi-Fi connection for communication with the mobile application and it is also in charge of sending the instructions to the slave module, thus allowing the interpretation of the songs. For the validation of the prototype, accuracy and stability tests were carried out for the magnetic sensors of the right and left hand and it was obtained relative errors of 1.43% and 1.56%, and coefficients of variation of 3.06% and 3.28% respectively. From the displacement precision tests of the right hand in its initial and final key, relative errors of 1.59% and 8.25% respectively were obtained and of the left hand in its initial and final key, relative errors of 1.75% and 8.89% respectively were obtained. It is concluded that the implemented prototype meets the established requirements to play songs on a piano.