Hardware Development of a Humanoid Robot Head: “Gabot”

Abstract

The development aims to mimic the anthropomorphic specifications of a human head by using available modern equipment such as the 3D printing machine. The proponents developed mechanisms to meet the Anthropomorphic data of a human head, angle of actuation, and the angular velocity of the mouth, eyes, and neck. The proponents also tested motor torque and stress on the parts to ensure the robustness of the machine, which yields 520 N-mm and 27.74 MPa on the neck tilting, 188 N-mm and 24.74 Mpa on neck swinging, 114 N-mm, and 12.09 Mpa on the neck panning, 73 and 7.052 MPa on the Eye Tilting. The maximum angular velocity of each part is 266.33 deg/sec on neck tilting, 262.33 deg/sec on neck swinging, 314 deg/sec on neck panning, 795.66 deg/sec on eye tilting, and 785.66 deg/sec on eye panning. The Proponents used the MPU-6050 accelerometer to test for the result of this study to achieve the required data. The effectiveness of the machine is as follows; eyes, 92.43% for panning, and 93.60% for tilting, neck, 89.20% for panning, 75.66% for tilting, 75.52% for swinging, for the mouth, 81.94%.