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

研究成果: Article同行評審

26 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號6199984
頁(從 - 到)1100-1112
頁數13
期刊IEEE/ASME Transactions on Mechatronics
18
發行號3
DOIs
出版狀態Published - 2013 一月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程

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