ABRAHALEY KAHASY BRHANE2025-06-172025-03-28https://repository.mu.edu.et/handle/123456789/52610.82589/muir-49910.82589/muir-499Playing traditional musical instruments, such as the Krar, typically requires two hands, which limits accessibility for individuals with upper-limb disabilities. This thesis addresses this challenge by designing, modeling, and simulating a robotic Krar strummer to assist one-handed individuals in playing the Krar, a traditional string instrument from Ethiopia and Eritrea. Despite advances in assistive technology, few solutions exist for traditional instruments, leaving a gap in accessibility for one-handed musicians. A robotic manipulator was developed to replicate the strumming motion of a human hand, enabling users with one functional hand to engage with the instrument. A three-dimensional model of the robotic strummer mechanism was created using SolidWorks, and its dynamic behavior and control system were simulated in MATLAB/Simulink. Rhythmic trajectories based on traditional Krar performances were analyzed, and a PID controller was implemented to ensure precise strumming patterns. Key findings from the simulations show that the robotic strummer accurately replicates rhythmic patterns with minimal error. The system demonstrated high accuracy in following predefined trajectories, with errors well within acceptable limits set for RKS. Joint space trajectory errors were minimal, with Joint 1 showing a maximum deviation of 0.091 degrees and Joint 2 a maximum deviation of 1.56 degrees without disturbance. With disturbance present, Joint 1 showed a maximum deviation of 1.7 degrees and Joint 2 a maximum deviation of 3 degrees. The controller effectively maintained precise alignment with the desired trajectories, ensuring stable operation. The simulation results under disturbance also demonstrated the system's ability to maintain stability and accuracy, with errors considered insignificant in terms of the rhythmic pattern. This research contributes to enhancing accessibility, enabling one-handed individuals to participate in music creation, promoting inclusivity in musical expression. The detailed design, modeling, and simulation results confirm the feasibility of the proposed robotic Krar strummer system. This research represents a step forward in assistive technology, bridging the gap between traditional music instrument and accessibility for individuals with disabilities.enRKSUpper-limb DisabilitiesSolidWorksMATLAB/SimulinkRhythmic TrajectoriesPID ControllerMusical AccessibilityThesis