Design of a compact camera-orienting mechanism with flexural pan and tilt axes
Journal
IEEE International Conference on Intelligent Robots and Systems
Start Page
1962
End Page
1967
ISSN
21530866
21530858
ISBN (of the container)
9781538680940
9781665479271
9781424402595
9781728162126
9781467317375
0780319338
1424409128
9781665417143
9781479999941
0780308239
Date Issued
2011
Author(s)
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.
Event(s)
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Subjects
Active Vision
Camera-orienting Device
Flexible Mechanisms
Multi-degree-of-freedom-actuation
Active Vision
Bio-inspired Actuators
Camera-orienting Device
Flexible Beam
Flexible Mechanisms
Human Eye
Kinematic Joints
Mobile Robotic
Multi-degree-of-freedom-actuation
Optimal Mechanism
Robotic Vision
Tilt Motion
Actuators
Cameras
Degrees Of Freedom (mechanics)
Flexible Structures
Intelligent Robots
Machine Design
Robotics
Computer Vision
Description
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11. San Francisco, CA. conference code:87712
Type
conference paper