仿人机器人面部表情驱动机构设计仿真

The Facial Drive Mechanism Design and Simulation of the Humanoid Robot

在仿人机器人研究中,面部表情实现是仿人机器人拟人化的重要基础。机器人头部设计面临自由度多、空间狭小等难题,结构之间极易引起干涉。根据仿人机器人基本表情的实现原理,采用模块化设计理念,设计了仿人机器人面部的各个驱动机构。然后,采用ANSYS有限元分析软件,在建立仿人机器人面部弹性体模型的基础上,根据仿人机器人的面部驱动机构设计,对模型进行有限元仿真分析,经过多次试验,求得面部弹性体模型六种基本表情的仿真结果。仿真结果表明,面部驱动机构设计具有合理性,并给出每种表情仿人机器人面部控制区域相应的位移载荷大小。

In the humanoid robot research, the facial expression is an important foundation to the anthropomorphic humanoid robot. Robot head design faces the problems such as too many DOF and little space. This will cause interference between structures. According to the basic principle of the humanoid robot expressions, each of the drive mechanism was designed based on the modular design. Then, on the basis of facial elastic model of the humanoid robot, finite element simulation analysis was conducted with ANSYS. After several tests, simulation results of six basic facial expressions based on the elastic model were obtained. Simulation results show that the drive mechanism design is reasonable. The displacements of the humanoid robot face control areas are listed.