Two miniature pan-tilt devices
Bederson, B.B.; Wallace, R.S.; Schwartz, E.L.
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Volume , Issue , 12-14 May 1992 Page(s):658 - 663 vol.1
Digital Object Identifier   10.1109/ROBOT.1992.220292
Summary:The authors investigate two small robotic pan-tilt devices that differ from the conventional motor-on-motor design. The Platform Pantilt is based on a parallel linkage actuated by two small DC linear stepper motors. The spherical pointing motor (SPM) is a two-axis actuator built using three orthogonal motor windings. The SPM is controlled open-loop and is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities up to 600°/sec. It is 4×5×6 cm and weight 160 grams. A subminiature camera consisting of a single CCD sensor chip and a lens assembly that fits on the rotor of this motor have also been built

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