Electromechanical Structure of the Experimental Model of a Robotic Head

The electromechanical structure of the experimental model of a robotic head, as well as the computer-assisted control of drive elements are described in this paper. The number of degrees of freedom for the anthropomorphic head was limited to seven, as follows: the oscillation movement of the eyeballs in the vertical plane (up-down); the oscillation movement of the eyeballs in the horizontal plane (left-right); the up-down movement of the eyelids; the up-down movement of the jaw; lateral extension of the lips; turning the head horizontally; the tilt movement of the head. The motors used in the construction of the experimental model of the humanoid head are of two types: DC motors with built-in reducer and with encoder, and stepper motors. All commands must be correlated with the voice signal from an auxiliary sound source, more precisely with the vocal sequence of the emitted sound signal, which the robot must simulate it by mimics of the eyes, mouth and neck. For this purpose, all motors are controlled through a data acquisition board, which receives the orders provided by LabVIEW. In this program, specific files were developed for the set of responses that robot must simulate them.