Design of a single cam single actuator multiloop eyeball mechanism
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...
| Main Authors: | , |
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| Format: | Conference Paper |
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IEEE-RAS
2018
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| Online Access: | http://hdl.handle.net/20.500.11937/70935 |
| _version_ | 1848762344670232576 |
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| author | Khan, Masood Mehmood Chen, C. |
| author_facet | Khan, Masood Mehmood Chen, C. |
| author_sort | Khan, Masood Mehmood |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T10:46:05Z |
| format | Conference Paper |
| id | curtin-20.500.11937-70935 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:46:05Z |
| publishDate | 2018 |
| publisher | IEEE-RAS |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-709352018-12-13T09:08:09Z Design of a single cam single actuator multiloop eyeball mechanism Khan, Masood Mehmood Chen, C. 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. 2018 Conference Paper http://hdl.handle.net/20.500.11937/70935 IEEE-RAS restricted |
| spellingShingle | Khan, Masood Mehmood Chen, C. Design of a single cam single actuator multiloop eyeball mechanism |
| title | Design of a single cam single actuator multiloop eyeball mechanism |
| title_full | Design of a single cam single actuator multiloop eyeball mechanism |
| title_fullStr | Design of a single cam single actuator multiloop eyeball mechanism |
| title_full_unstemmed | Design of a single cam single actuator multiloop eyeball mechanism |
| title_short | Design of a single cam single actuator multiloop eyeball mechanism |
| title_sort | design of a single cam single actuator multiloop eyeball mechanism |
| url | http://hdl.handle.net/20.500.11937/70935 |