面部表情机器人眉毛结构设计与优化

Eyebrows Structure Design and Optimization of Facial Emotion Robot

针对现有面部表情机器人拟人化程度偏低、结构自由度少等现状,设计了一种多自由度、高拟人化的面部表情机器人的眉毛结构。为满足人脸表情中眉部动作的复杂性,采用4个自由度的眉毛结构,用于提高其灵活性,具有结构紧凑的特点;设计的结构采用并联结构,可有效减少驱动器数量,满足面部表情机器人尺寸小、精度高的要求。在ADAMS中进行结构优化,并在Pro/e中完成建模,再导入到ADAMS中进行运动仿真,验证了结构设计的有效性。

According to the existing facial robot structure with less Degree of freedom and low level expression to be people,this paper designed the eyebrows structure with a multiple degrees of freedom and high-intended to be people.Aimed at the complexity of the eyebrow movements in facial expression,the author adopted 4 degrees of freedom structure to improve eyebrows flexibility and compactness.The structure with a parallel structure used less drive,and meet the small size of the facial robot.The eyebrows structure of facial robot was optimized in ADAMS,and modeled by Pro/e 3.0,after that,it was imported into the ADAMS for dynamic simulation,which verified the correctness of the model.