Ok,

Wrote parameter function in Inventor that allows me to put in eye direction and magnitude, face direction and magnitude, and move the joints an appropriate amount.

This is important because the eye or face is only meant to pan or tilt a certain amount off center. If I move the face pan servo 20 degrees and the face tilt servo 20 degrees, it is actually facing 45 degrees with more than the allowed amount of overall tilt.

if I input instead:Face tilt 20, Face rotation 45, and take the sine of the face rotation and multiply it by the amount of tilt I get the actual amount of pan required. Similarly, if I use cos for the tilt servo, I get its value.

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worked out a holder for the Raspberry Pi, but it is looking increasingly crowded in there. still need a small micro, speakers, amp and battery. The battery will likely be several small batteries tucked in wherever they will go.

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going to try to make a reasonable model which is a compilation of all the major component’s movements within the model’s interior volume. Still not sure how yet.

Here I stepped the major moving parts through their rotations and made a single part.