Design of humanoid robot hands for clarinet performance

Directed towards the requirements of clarinet performance,two robot hands with identical structures of 3 single jointed fingers were developed.Horniness aluminum alloy was adopted as the material of fingers,using the cog-belt to achieve the indirect drive of finger and to realize the rhythmic movements of finger by adopting the direct current servo-motor(steering motor).A set of airflow controlling system was designed directly against the needs on the high,medium and low tones and long or short voices.Three kinds of corresponding states were achieved through the adjustments of air pressure.To get the necessary airflow by means of adjusting the opening of throttle valve on each branching pipe,and to produce the accuracy in pitch tallies with the practice.The actual operational result of HK-II satisfied completely the requirements.