top of page

Command and facial expressions

of a humanoid robot head

This project was carried out with my team containing 3 people supervised by 2 project tutors. The project consisted of designing the mechanism for the eyes and eyebrows of a humanoid robot head. I chose to work on this project, because I wanted to learn more about humanoid robotics and to develop my creativity thanks to the large design part. I chose to design the mechanism of the eyes of the robot, to do so, I went through several stages:

specification-300x300.png

Analysis of the specifications 

Included items: front face, back skull, servos, cameras
 

Functions to be performed by the mechanism:
 

  1. The eyes must be able to move from right to left independently (to be able to squint).

  2. They should go up and down in sync.

001015872_896x598_c.jpg

Inspired by the Ameca robot

Imagination of the mechanism

Propose a solution that meets the requirements of the specifications, through a functional analysis of the mechanism.

Mechanism allowing the eyes to move from right to left

20220518_120940.jpg

Mechanism allowing the eyes to move up and down

By using these two solutions, we meet the expectations of the specifications. They have the advantage of being simple in design and easy to implement (few components and simplifying assembly).

Sizing 

20220625_092904.jpg

  • Measurement of components made available

  • Respect for the space available in the face and the skull

  • Force and moment calculations, bond modeling, application of PFS (fundamental principle of statics)

  • DDS calculations (structural dimensioning) to design a structure to ensure a certain resistance and an optimal distribution of stresses

Design of the mechanism onsolidworks

Capture.JPG

  • Lighten and strengthen the mechanism thanks to material optimization (For example, the addition of fillets makes it possible to better distribute the stress concentrations exerted on the part.)

  • Carry out the CAD based on the preliminary studies

  • Adapt the shapes of the parts to facilitate manufacturing

Dynamic study, to ensure that the mechanism works properly.

Installation of the mechanism

Capture.JPG
Capture.JPG

manufacture of the mechanism 

Using the3d printing, in order to facilitate the manufacture of complex shapes and lighten the mechanism.

20220624_182409.jpg
image0000001 (1).jpg

This project allowed me to discover the world of humanoid robots that I didn't really know, I learned to make pivot links in a simple way.

I was also able to develop my sense of teamwork and organization.

bottom of page