Pan-tilt Generation of Robot Eye by Using a Pair of Push-pull Wires

Title
Pan-tilt Generation of Robot Eye by Using a Pair of Push-pull Wires
Authors
정찬열오경균박신석김승종
Keywords
로봇 안구; 와이어 구동; 안구 메커니즘; 팬-틸트 모션; Robot Eyes; Wire Driving; Eyes Mechanism; Pan-tilt Motion
Issue Date
2011-01
Publisher
한국소음진동공학회논문집
Citation
VOL 21, NO 1, 3-8
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/39610
ISSN
1598-2785
Appears in Collections:
KIST Publication > Article
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