Tham khảo tài liệu 'mobile robots -towards new applications 2008 part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Experimental Robot Musician 551 Fig. 9. Converter. Motion Module The Motion module the robot hands is provided by powered mechanics namely servos and solenoids which manage and provide access to the actual musical instruments. Two types of servos Hitec Quarter Scale HS-700BB Servo and Hitec HS303 Servo and three types of solenoids are used in its construction. The Shindengen solenoid has a holding power of 3 pounds while Solenoids from Sun Magnet hold pounds and those from Guardian Electric hold pounds. All servos and solenoids are powered by 12 V except the Shindengen solenoid 24V and 1500 mA. Fig. 10. Servo attached to one bow of Jasche. Fig. 11. Solenoid with holding power of pounds attached to Jasche. Fig. 12. Solenoid with holding power of 3 pounds attached to Bernie Bot A Cello Robot Musician . 552 Mobile Robots Towards New Applications Fig. 13. A coffee container s plastic lid is connected with a servo so it flutters against the body of a drum when the servo receives control command from the control module. Fig. 14. Sample Motion Module Architecture violin bow controlled by servo violin string pressed by solenoids. Fig. 15. Sample Motion Module Architecture drumstick controlled by solenoid Fig. 16. Sample Motion Module Architecture chimes wand controlled by servo. As an example a violin is set up with two bows controlled by two servos and twelve fingers solenoids . Servos are attached to bows of the violin. They move the bows back and forth across the violin strings as shown in Figure 10. Solenoids act as magnets to depress the strings when charged Figure 11 and 12 . Experimental Robot Musician 553 Figure 13 shows that a coffee container s plastic lid is connected with a servo so it flutters against the body of a drum when the servo receives control command from the control module. Figure 14 15 and 16 shows three samples of motion module architecture. A Robot Musician Example Jasche To give a more concrete view of the robot musician a .