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dc.contributor.authorKhan, Masood Mehmood
dc.contributor.authorChen, C.
dc.date.accessioned2018-12-13T09:08:09Z
dc.date.available2018-12-13T09:08:09Z
dc.date.created2018-12-12T02:46:40Z
dc.date.issued2018
dc.identifier.citationKhan, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/70935
dc.description.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.

dc.publisherIEEE-RAS
dc.titleDesign of a single cam single actuator multiloop eyeball mechanism
dc.typeConference Paper
dcterms.source.startPage1143
dcterms.source.endPage1149
dcterms.source.titleProceedings of the IEEE-RAS International Conference on Humanoid Robots
dcterms.source.seriesProceedings of the IEEE-RAS International Conference on Humanoid Robots
dcterms.source.conferenceIEEE-RAS International Conference on Humanoid Robots
dcterms.source.placeNew York
curtin.departmentSchool of Civil and Mechanical Engineering (CME)
curtin.accessStatusFulltext not available


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