A comparative evaluation of percussion mechanisms for musical robotics applications This paper presents a summary of several of the various types of percussion mechanisms commonly utilized in the field of musical robotics, with a goal of comparing their effectiveness regarding a number of musical outcomes. A testing system was set up to compare the devices and analyze a number of relevant attributes of their performance, such as maximum speed and volume, consistency and latency. The advantages and disadvantages of each of the types of mechanisms are discussed, and suggestions are offered about which types of mechanisms are suitable for various musical contexts.