仿人面部表情机器人头部机构方案设计

为了赋予表情机器人更丰富的面部表情, 并最终实现与人之间更和谐的交互, 在对人类基本表情的形成与肌肉运动进行分析的基础上, 提出了一种仿人面部表情机器人头部的机械结构设计方案, 为后续研究提供了硬件平台支持. 并对该机器人头部机构, 包括眉毛、眼睑、眼球、能实现咀嚼动作的下颚以及颈部等的工作原理进行了详细说明, 对多种方案的选择作了对比. 最后, 确定了表情机器人头部的机构设计方案.

Mechanical scheme design of a humanoid facial expressions robot

To give richer facial expressions to humanoid countenance robot therefore achieve more harmonious interaction with people, a mechanical design of humanoid expressions is proposed by analyzing the generation of basic expressions and muscle movements, providing a hardware platform support for further study. The robot head consists of the mechanisms of eyebrows, eyelids, eyeballs, and neck, as well as the mechanism of jaw for mastication movement. Their working principles are described in detail, and several design choices are compared. The choice of mechanical design is finally made, and the required further research is specified.