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

Content Provider	IEEE Xplore Digital Library
Author	Chao-Chiel Lan Yi-Chiao Lee Jinn-Feng Jiang Yi-Jie Chen Hung-Yuan Wei
Copyright Year	2011
Description	Author affiliation: Project Coordination and Liaison Section, Planning and Promotion Department, Metal Industries Research and Development Centre, Taipei, Taiwan (Jinn-Feng Jiang; Yi-Jie Chen; Hung-Yuan Wei) \|\| Department of Mechanical Engineering, National Cheng Kung University, No. 1, University Rd., Tainan, Taiwan (Chao-Chiel Lan; Yi-Chiao Lee)
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 replece the kinematic joints; thus they have fewer parts and can be easily rescaled to fit a smaller space. Afger 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.
Starting Page	1962
Ending Page	1967
File Size	790329
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094410
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	USA Councils Intelligent robots Conferences multi-degree-of-freedom actuation Camera-orienting device active vision flexible mechanisms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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