Design of a Spherically Actuated Human Interaction Robot Head
This paper presents the development of a mechanism for actuating a sphere holonomically about 3 degrees of freedom (DOF). The target application is a robot head for mounting inside a vehicle to provide a driver with companionship, location specific information, and other assistance, via head motions...
| Main Authors: | , , |
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| Format: | Article |
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ASME International
2019
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| Online Access: | http://hdl.handle.net/1721.1/120064 https://orcid.org/0000-0002-5048-4109 |
| Summary: | This paper presents the development of a mechanism for actuating a sphere holonomically about 3 degrees of freedom (DOF). The target application is a robot head for mounting inside a vehicle to provide a driver with companionship, location specific information, and other assistance, via head motions in conjunction with auditory communication. Prior art is reviewed and two designs are presented: One mechanism is located below the sphere and provides an unlimited range of motion (ROM), and the other is contained entirely within the sphere but has a limited range of motion. The latter is stable and easily mounted, provides a clean appearance, and is particularly suited to human interaction applications. |
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