A pan-tilt orienting mechanism with parallel axes of flexural actuation

Yi Chiao Lee, Chao-Chieh Lan, Cheng Yu Chu, Chih Ming Lai, Yi Jie Chen

Research output: Contribution to journalArticlepeer-review

26 Citations (Scopus)


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.

Original languageEnglish
Article number6199984
Pages (from-to)1100-1112
Number of pages13
JournalIEEE/ASME Transactions on Mechatronics
Issue number3
Publication statusPublished - 2013 Jan 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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