Design Of Humanoid Robot Head And Itsoptimization

As the development of living condition, more service robots will be introduced in our lives in the future. Comparing to the service robots that can only realize the specific functions, the robots with the ability of human-robot communication and expression interaction will be more popular among humans. Therefore, the research in humanoid robot head is of great importance. In this paper, the research in the realization of a humanoid robot head system, the research in driving torque reduction using joint compliances, and shape optimization of each link in the linkage mechanism for suppressing the vibration are conducted.According the practical requirements, this paper designs a robot head system with six degree of freedom, and completes the prototype including its manufacture, assembling, control system and control interface. This paper selects servo motors and linkage mechanisms as the actuators and transmission, respectively. The robot head need have the desired function of blinking the eyes, moving the eyeballs left and right, up and down, move the mouth, nodding the head and rotate the head. Through the experiments of the prototype, the robot head can realize the desired motions.As the robot head in this paper will serve for a mobile service robot, in order to reduce the driving torque of the linkage mechanism, and reduce the energy consumption consequently. The dynamic modeling of the linkage mechanism with springs-loaded compliant joint is established. An optimization procedure for obtaining the optimal parameters of springs is proposed for minimizing driving torques within a range of desired operating conditions. The Simulations prove that the linkage mechanism with compliant joints can effectively reduce the sum of the driving torques, and reduce the energy consumption consequently. The framework can also be applied in other similar applications to reduce the driving torque and save energy.In order to keep the structure in light weight and suppress the vibration of linkage mechanism at the same time, this paper optimizes the shape of the links in the mechanism for minimizing the vibration displacement without increasing the system mass. The optimization results show the vibration of linkage mechanism can be suppressed obviously.