I don’t think I’d want a recognizable voice, but I’d still want something pleasant. I’d go with the voice of Lois, the “house manager” for Tom Selleck in the 1984 movie Runaway. Credit for Lois’ voice went to this actress. Marilyn Schreffler - IMDb
But they would have to piece together existing audio – it may not sound smooth. 
I originally picked Orson Welles, but if I had to pick a female voice I’d go with Julie Andrews.
Shohreh Aghdashloo: In Conversation With Actor Shohreh Aghdashloo - YouTube
I could listen to her say anything. She’s like the warmest, fuzziest blankie.
Michael Fassbender doing his best impression of his character David from Prometheus.
Elizabeth Daily. Or Gilbert Gottfried. If you’re going to play, play.
Awakened every day with, “Good morning, Mr. Incredible,” in that silky purring? I’ll manage. 
My backup: Jarvis.
Zombie Alan Rickman, apparently.
I read through this whole post to make sure I didn’t steal this one haha. I would want the robot he played in a hitchhikers guide!
My wife’s voice. Why change a good thing?
Zen from Blake’s 7
Well, I am never NEVER coming to Guano’s house. Also never anyone’s house who has Jeremy Hotz as the house voice.
I thought about my mother’s voice. I would want to hear it every day, and I would probably be tidier with prompting from my mother. But I couldn’t stand the thought of that voice being around during sexytimes. So… I need to re -consider.
Paul Newman. My son would think it was Doc Hudson.
Plus Paul Newman is already dead, the better to fight off the zombies.
The woman who narrates the physics animations on The Mechanical Universe.
I’ve always loved to sound of women’s voices, so I know it would be a woman’s voice. I’d have to listen to what samples they have available.
It’d probably be funny as hell to say Katherine Ross, if only because of her reaction if someone asked her to read a ‘word list’ into a microphone. 
R2D2, Edith Bunker or someone screaming in a language I don’t understand.
I am a bit creeped out with posts 20 and 21 next to each other in 2009…
Of course. And I would have it sound like the ST computer system as well.
Failing that, either Penelope Cruz or Rose Leslie.
“Attention All Planets Of The Solar Federation” Guy from the Rush record.
No, no, no: Robot house, not bobot house. Close, but no cigar. 
Queen Elizabeth II
(better hurry and record her!)