Design of a compact camera-orienting mechanism with flexural pan and tilt axes

Chao Chiel Lan, Yi Chiao Lee, Jinn Feng Jiang, Yi Jie Chen, Hung Yuan Wei

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1962-1967
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11-09-2511-09-30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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