TY - GEN
T1 - Design of a compact camera-orienting mechanism with flexural pan and tilt axes
AU - Lan, Chao Chiel
AU - Lee, Yi Chiao
AU - Jiang, Jinn Feng
AU - Chen, Yi Jie
AU - Wei, Hung Yuan
PY - 2011/12/29
Y1 - 2011/12/29
N2 - This paper presents the design and prototype of a camera-orienting mechanism. Bio-inspired 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 mobile robotic applications, a compact camera-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, uncoupled pan and tilt motions can be provided in a smaller space. The flexible mechanisms utilize the deflection of flexible beams to replace the kinematic joints; thus they have fewer parts and can be easily rescaled to fit a smaller space. After a formulation to find the optimal mechanism configuration, the design is verified by implementing a prototype. The novel orienting mechanism is expected to serve as an alternative for robotic vision devices.
AB - This paper presents the design and prototype of a camera-orienting mechanism. Bio-inspired 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 mobile robotic applications, a compact camera-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, uncoupled pan and tilt motions can be provided in a smaller space. The flexible mechanisms utilize the deflection of flexible beams to replace the kinematic joints; thus they have fewer parts and can be easily rescaled to fit a smaller space. After a formulation to find the optimal mechanism configuration, the design is verified by implementing a prototype. The novel orienting mechanism is expected to serve as an alternative for robotic vision devices.
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U2 - 10.1109/IROS.2011.6048056
DO - 10.1109/IROS.2011.6048056
M3 - Conference contribution
AN - SCOPUS:84455207875
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1962
EP - 1967
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -