Lee, YichiaoYichiaoLeeCHAO-CHIEH LANChu, ChengyuChengyuChuLai, ChihmingChihmingLaiChen, YijieYijieChen2025-09-242025-09-242013https://www.scopus.com/inward/record.uri?eid=2-s2.0-84872958473&doi=10.1109%2FTMECH.2012.2195192&partnerID=40&md5=e3b7ba3913d887172fe29f6d9600c3d5https://scholars.lib.ntu.edu.tw/handle/123456789/732510This 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.Bioinspired Robot EyeCamera-orienting DeviceFlexible MechanismParallel MechanismBio-inspired ActuatorsBio-inspired RobotsCamera-orienting DeviceDesign SpacesFlexible MechanismsFlexural ActuationHuman EyeInput-output RelationsKinematic JointsOptimal MechanismParallel AxesParallel MechanismsRobotic ApplicationsRobotic VisionTilt MotionActuatorsDegrees Of Freedom (mechanics)MechanismsRoboticsCamerasjournal article10.1109/TMECH.2012.21951922-s2.0-84872958473