Kinematic and Modal Simulation Analysis of the Bionic Eye Based on Spherical Parallel Mechanism (SPM)

Abstract

In order to realize stable tracking under bumpy environment, the robot bionic eye constructed by spherical parallel mechanism with 3 DOF is designed based on the characteristics of human being’s eyes. ANSYS and ADAMS are utilized to conduct modal and kinematics property analysis respectively. According to the result of ANSYS modal analysis, the structure highly meets the demands of function and reliability, which lays the foundation for optimization and bump-resistance design. Through ADAMS kinematics analysis, displacement, velocity and acceleration curves of mechanism end effector were obtained, which provides reference for motion control and optimization design.

Bionic eye system based on fuzzy adaptive PID control

“…Most existing robots only have two DOF which lack for one DOF rotating around the optical axis. The bionic eye system based on the spherical parallel mechanism [1] has three rotational DOF and other advantages such as compactness and simple structure. This bionic eye system can agilely compensate deviation caused by attitude variation of the robot or the tracking object and lower the influence on the quality of video images, thus reducing the difficulty of image processing.…”