정찬열 오경균 박신석 김승종 2024-01-20T18:00:40Z 2024-01-20T18:00:40Z 2022-01-10 2011-01 1598-2785 https://pubs.kist.re.kr/handle/201004/130743 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. Korean 한국소음진동공학회 한 쌍의 푸쉬-풀 와이어를 이용한 로봇 안구의 팬-틸트 모션 생성 Pan-tilt Motion Generation of Robot Eye by Using a Pair of Push-pull Wires Article 2 한국소음진동공학회논문집, v.21, no.1, pp.3 - 8 한국소음진동공학회논문집 21 1 3 8 N kci ART001520248 로봇 안구 와이어 구동 안구 메커니즘 팬-틸트 모션 Robot Eyes Wire Driving Eyes Mechanism Pan-tilt Motion