Modular Design and Development of Humanoid Robotic Head Using Fused Deposition Modelling 3D Printer

The current paper focuses on the application of fused deposition modelling (FDM)-based rapid prototyping technique to develop a humanoid robotic head for human–robot interaction (HRI). The humanoid robotic head comprises twelve degrees of freedom actuated by precision dynamixel servo motors and controlled by UDOO board. The design, fabrication and control architecture of the humanoid robotic head are discussed in brief. The principles of design for manufacturing and assembly (DFMA) were adopted to design the humanoid robotic head in view of ease of assembly and reducing overall manufacturing cost and development time. The details of the FDM technology and its specifications are described in detail. The modular design features and the iterative design process of the robot are illustrated with the help of CAD models. Finally, the mechanical design of the robot is integrated with the control system to bring the robot to life, resulting in a full-sized humanoid robotic head capable of following human instructions and mimicking various human facial expressions.