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

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5 Author(s)
Chao-Chieh Lan ; Department of Mechanical Engineering, National Cheng Kung University, No. 1, University Rd., Tainan, Taiwan ; Yi-Chiao Lee ; Jinn-Feng Jiang ; Yi-Jie Chen
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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.

Published in:

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

25-30 Sept. 2011