Pan-tilt Generation of Robot Eye by Using a Pair of Push-pull Wires
- Pan-tilt Generation of Robot Eye by Using a Pair of Push-pull Wires
- 정찬열; 오경균; 박신석; 김승종
- 로봇 안구; 와이어 구동; 안구 메커니즘; 팬-틸트 모션; Robot Eyes; Wire Driving; Eyes Mechanism; Pan-tilt Motion
- Issue Date
- VOL 21, NO 1, 3-8
- This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning
and tilting, are driven by a pair of wires. The main feature of the module is that each wire can
generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of
the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull
motion is produced even when the end point of wire is moved by eye rotation. This mechanism
helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced
in detail, and the required motor angles for a certain direction of eye line are investigated
analytically and experimentally.
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- KIST Publication > Article
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