Design and Motion Analysis of Dancing Robot for Danzhou Diaosheng

To address the inheritance dilemma of Danzhou Diaosheng, a national intangible cultural heritage, a dedicated dancing robot was developed, and in-depth research on its mechanical structure and motion analysis was conducted for accurate reproduction of the folk art’s typical dance movements. Based on the decomposition and measurement of dance movements, a coupled mechanism system integrating crank-slider and crank-rocker mechanisms was constructed using the concise design concept of mechanism coupling, single drive and trajectory constraint. A practical prototype was developed and exhibited, which has attracted nearly 10 million visits to date. An optical motion capture system was applied to verify the robot’s motion accuracy, and the motion errors of its trunk, hand and joints were maintained at a low level (RMSE ≤ 1.47 mm). The mechanical technology and intangible cultural heritage protection were organically integrated in this research, which provided a replicable technical solution for traditional folk-art inheritance and a feasible design reference for cultural and artistic robots.