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    Design of a single cam single actuator multiloop eyeball mechanism

    Access Status
    Fulltext not available
    Authors
    Khan, Masood Mehmood
    Chen, C.
    Date
    2018
    Type
    Conference Paper
    
    Metadata
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    Citation
    Khan, M.M. and Chen, C. 2018. Design of a single cam single actuator multiloop eyeball mechanism, IEEE-RAS International Conference on Humanoid Robots, pp. 1143-1149: IEEE-RAS.
    Source Title
    Proceedings of the IEEE-RAS International Conference on Humanoid Robots
    Source Conference
    IEEE-RAS International Conference on Humanoid Robots
    School
    School of Civil and Mechanical Engineering (CME)
    URI
    http://hdl.handle.net/20.500.11937/70935
    Collection
    • Curtin Research Publications
    Abstract

    This paper reports design and implementation of a multiloop robotic eyeball mechanism that enables synchronously rotating two eyeballs using a single actuator. Our optimally designed eyeball mechanism can help in implementing light weight, agile and energy efficient robotic heads. To the best of our knowledge, no existing eyeball mechanism is able to synchronously rotate two eyeballs using a single actuator. This work demonstrates use of a multiloop mechanism for reducing the number of required actuators and hence reducing the overall power consumption. Our eyeball mechanism incorporates an optimally designed 4-PS (prismatic-spherical) plus 1-P (passive support) construct. This partially passive construct comprises of a two-dwell end-cam plus a 4-follower arrangement. The cam-follower arrangement also augments the control strategy for synchronously rotating the eyeballs and irides. We also present a methodology for determining the position kinematics of this 4-degree of freedom robotic eyeball mechanism.

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