Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot

doi:10.16183/j.cnki.jsjtu.2022.469

Abstract

Abstract:

In order to solve the current problem of a single oral motion mode for the humanoid expression robot, a novel multi degree of freedom (DOF) bionic jaw mechanism was designed based on the anatomical motion mechanism of the human jaw. The inverse kinematics model of the mechanism was established, and the motion mode of the mechanism was analyzed to realize the multi DOF motion of the bionic jaw mechanism in space. A multi rigid body simulation of the bionic jaw mechanism was conducted, whose feasibility was verified by the experiments. The simulation and experimental results demonstrate that, based on the inverse kinematics model, the mechanism designed is able to simulate the three basic motion modes of human jaw, including open-close movement, protrusion movement, and side shifting movement, as well as the complex oral motion modes including chewing and lip biting. Therefore, the proposed mechanism can compensate for the limits of oral movement patterns of the existing humanoid robots.

Key words: bionic jaw, bionic robot, expression robot, mechanism design, inverse kinematic analysis

CLC Number:

TP242

ZHAO Wei, YUAN Shaoke, LI Yinan, FEI Yanqiong. Design and Motion Analysis of Bionic Jaw Mechanism for Humanoid Expression Robot[J]. Journal of Shanghai Jiao Tong University, 2024, 58(8): 1231-1239.

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运动单元	下颌运动	对应肌肉
AU26	下颌下降	咬肌、颞肌、翼状肌
AU29	下颌外推	翼状肌
AU30	下颌侧移	翼状肌、咬肌、颞肌