🎶 Xylophone‑Playing Music Robot

Arduino‑Powered Therapeutic Music Player Robot (ADHD-Friendly)

A robotic system designed to play xylophone notes using dual‑arm servo mechanisms. The robot is controlled via a Python server and mobile app, enabling music playback through serial commands. Built for therapeutic use, especially for ADHD children, to create engaging auditory interaction through motion and rhythm.

---

📸 Demo

---

🚀 Features

• 🎵 Plays real xylophone notes using a left & right servo arm
• 🦾 Dual‑arm mechanism: shoulder (yaw) + elbow (strike) per side
• 🤖 Precise servo angles per note using a mapped lookup table
• 📡 Wireless song selection via Python TCP server + mobile app
• 🎼 Supports 6 predefined songs (children’s melodies)
• 🧠 Therapeutic application for attention and rhythm training
• ⚡ Smooth, stable motion through controlled servo timing
• 🔌 Simple hardware architecture using Arduino + MG995/SG90 servos

---

🛠 Tech Stack

Component	Technology
Microcontroller	Arduino
Motion Control	Servo (MG995 + SG90)
Programming	C++ / Arduino, Python
Communication	USB Serial + TCP Socket
Mobile App	Android (text-based command sender)

---

🧠 How It Works

1️⃣ Selecting the Music

A song ID (1–6) is sent from the mobile app → Python Server.py → Arduino.

Example logic from Server.py:

if 'تاب تاب' in msg:
    ser.write(b"1")
elif 'خونه ی مادربزرگه' in msg:
    ser.write(b"2")
...

---

2️⃣ Receiving Commands on Arduino

MusicPlayerRobot.ino waits for a serial command:

int musicId = Read_Serial();

When received, it loads the correct melody:

if (musicId == 1) music = music1;
if (musicId == 2) music = music2;
...

---

3️⃣ Mapping Notes → Physical Coordinates

Each note corresponds to an index in the angle[] array:

char angle[] = {53,60,67,73,83,93,103,45,55,64,72,82,93,103,112};

Notes < 7 → left arm Notes ≥ 7 → right arm

---

4️⃣ Striking Motion

Each strike is a controlled down‑and‑up elbow motion:

Left_elbow.write(120);  // down
Left_elbow.write(70);   // up

This replicates the physical action of hitting a xylophone key.

---

🎼 Predefined Songs

Your robot includes 6 children’s songs, such as:

• تاب تاب
• خونه‌ی مادربزرگه
• تولدت مبارک (two versions)
• برف
• خوشحال و شاد و خندان

Each melody is stored as an array of notes and rests (-1).

Example:

int music1[] = {10, -1, 9, -1, 8, 8, 9, -1, ... };

---

🔧 Hardware Setup

• 4 Servos

  • Left Shoulder (pin 3)
  • Right Shoulder (pin 5)
  • Left Elbow (pin 6)
  • Right Elbow (pin 9)

• Arduino Uno / Mega

• Xylophone Instrument

• Wooden / 3D printed arms

• External 5–6V servo power recommended

---

🔌 Communication Flow

[ Android App ]  
       ↓ TCP (Port 80)
[ Python Server.py ]  
       ↓ USB Serial  
[ Arduino (MusicPlayerRobot.ino) ]  
       ↓ Servo Outputs  
[ Robot Arm Hits Xylophone ]

---

▶️ Running the System

1. Upload Arduino Code

Open MusicPlayerRobot.ino → Upload

2. Start Python Server

python Server.py

3. Send Command from Mobile App

Example messages:

• "تاب تاب"
• "برف"
• "تولدت مبارک 1"

The robot will begin playing automatically.

---

👨‍💻 Author

Mohammad Alaei AI Researcher & Computer Engineer 🔗 https://alaeimo.ir

Academic Note

This project was originally developed as my B.Sc. thesis project in Electrical & Computer Engineering (Robotics).
All code is cleaned, documented, and published for educational and research purposes.