摘要
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.
出处
《机械工程与自动化》
2017年第5期40-41,44,共3页
Mechanical Engineering & Automation
基金
国家自然科学基金资助项目(51375095)
国家基金委-广东省联合基金重点项目(U1401240)
