A Pan-Tilt Orienting Mechanism With Parallel Axes of Flexural Actuation
This paper presents the design and prototype of a camera-orienting mechanism. Bioinspired actuators and mechanisms have been developed to pan and tilt a camera with comparable characteristics as a human eye. To meet the stringent space/weight requirement of robotic applications, a compact-orienting...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2013-06, Vol.18 (3), p.1100-1112 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Lee, Yi-Chiao Lan, Chao-Chieh Chu, Cheng-Yu Lai, Chih-Ming Chen, Yi-Jie |
| description | This paper presents the design and prototype of a camera-orienting mechanism. Bioinspired actuators and mechanisms have been developed to pan and tilt a camera with comparable characteristics as a human eye. To meet the stringent space/weight requirement of robotic applications, a compact-orienting mechanism is proposed. We specifically aim at matching the size of a human eye. Through the arrangement of two parallel placed actuators and flexible mechanisms, nearly uncoupled pan and tilt motions can be provided in a streamlined space. The flexible mechanisms utilize the deflection of beams to replace the kinematic joints; thus, they have fewer parts and can be easily adapted to a small and irregular design space. The optimal mechanism configuration has linear input-output relation that makes driving electronics very direct. Through verification and prototype illustration, the novel orienting mechanism is expected to serve as an alternative for robotic vision applications. |
| doi_str_mv | 10.1109/TMECH.2012.2195192 |
| format | Article |
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Bioinspired actuators and mechanisms have been developed to pan and tilt a camera with comparable characteristics as a human eye. To meet the stringent space/weight requirement of robotic applications, a compact-orienting mechanism is proposed. We specifically aim at matching the size of a human eye. Through the arrangement of two parallel placed actuators and flexible mechanisms, nearly uncoupled pan and tilt motions can be provided in a streamlined space. The flexible mechanisms utilize the deflection of beams to replace the kinematic joints; thus, they have fewer parts and can be easily adapted to a small and irregular design space. The optimal mechanism configuration has linear input-output relation that makes driving electronics very direct. Through verification and prototype illustration, the novel orienting mechanism is expected to serve as an alternative for robotic vision applications.</description><subject>Actuators</subject><subject>Bioinspired robot eye</subject><subject>Camber</subject><subject>camera-orienting device</subject><subject>Cameras</subject><subject>Electronics</subject><subject>flexible mechanism</subject><subject>Human</subject><subject>Humans</subject><subject>Joints</subject><subject>Kinematics</subject><subject>Mechatronics</subject><subject>parallel mechanism</subject><subject>Prototypes</subject><subject>Robotics</subject><subject>Shape</subject><subject>Stress</subject><subject>Studies</subject><subject>Tilt</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2013</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkE1LAzEQhoMoWKt_QC8LXrxszWSTzeZYSj-Elnqo6C0kaWJTtrs12YX6793a4sHTvAzPOwwPQveABwBYPK8W49FsQDCQAQHBQJAL1ANBIcVAPy67jIsspTRj1-gmxi3GmAKGHpoOk1dVpStfNskyeFs1vvpMFtZsVOXjLnn3zaYjgipLWybDg41J7ZJJaQ9tt0uGpmlV4-vqFl05VUZ7d5599DYZr0azdL6cvoyG89RkpGhSJbQR3KlMuxwX2GmjmdKKC6fX1GpScMFz7TQUjBtslCMKMLXrnDHKC6ezPno63d2H-qu1sZE7H40tS1XZuo0SMmA5p0BZhz7-Q7d1G6ruOwmEE8x4zrKOIifKhDrGYJ3cB79T4VsClke38tetPLqVZ7dd6eFU8tbav0IOQoiCZj9ngXTL</recordid><startdate>20130601</startdate><enddate>20130601</enddate><creator>Lee, Yi-Chiao</creator><creator>Lan, Chao-Chieh</creator><creator>Chu, Cheng-Yu</creator><creator>Lai, Chih-Ming</creator><creator>Chen, Yi-Jie</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| source | IEEE Electronic Library (IEL) |
| subjects | Actuators Bioinspired robot eye Camber camera-orienting device Cameras Electronics flexible mechanism Human Humans Joints Kinematics Mechatronics parallel mechanism Prototypes Robotics Shape Stress Studies Tilt |
| title | A Pan-Tilt Orienting Mechanism With Parallel Axes of Flexural Actuation |
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