一种人形机器人的头部设计与运动实现

Design and Implementation of A Humanoid Robot Head

人形机器人头部由于空间狭窄与传动件较多,导致头部机构的设计往往较为复杂且可靠性较差。针对该问题,通过分析人体头部骨骼的组成,提出了一款人形机器人的头部机械结构设计方案。采用该方案设计出的头部由5个运动模块组成,通过控制相应模块的舵机,可分别实现眼睑开合、眼珠转动、下颚开合、头部俯仰和头部转动5种运动模式。试验证明:该机构结构紧凑、可靠性高,为下一步的人形机器人的整体设计做了铺垫。

The humanoid robot head mechanism is usually complex and unreliable because of its narrow space and transmissions.In order to solve the problem,this paper introduces a kind of head structure design scheme of a humanoid robot by analyzing the skeleton of human head.The head of humanoid robot has five motion modules,which can control servos to achieve a series of movement,including opening-closing movement of eyelids and jaw,left-right movement of eyes,nodding and shaking movement of the head.The experiment proves that the structure is compact and the mechanisms is feasible,which gives good matting for the future researches.