Design and Dynamic Simulation of a Wide-Range Binocular Head-Eye Platform
- Jihong Yan, Rufei Cai
- Corresponding Author
- Jihong Yan
Available Online June 2017.
- https://doi.org/10.2991/ammee-17.2017.71How to use a DOI?
- Head-Eye Platform, Binocular Mechanism, Wide-Range Object Recognition, Dynamic Simulation.
- Binocular head-eye platform is mainly used in the recognition of active objects, and can quickly and flexibly achieve a wide-range image information collection. The existing binocular head-eye platform usually uses small camera with fixed focus lens to obtain image information, so there are some problems, such as close target distance, narrow view, small motion range and etc. For these reasons, this paper presents a new type of binocular head-eye platform. The 7-dof head-eye platform has long target distance, wide-range view, large motion range and high speed performance for zoom lens camera and series parallel hybrid mechanism. Monocular mechanism has enough stiffness to ensure the high-speed movement of heavy payload, due to the parallel design. For motion control, kinematics solution is solved by DH parameter method and analytical method. DH parameter method is easy to establish the coordinate transformation relation. And analytical method can obtain accurate mathematical expressions. To verify the rationality and feasibility of the platform, dynamic simulation is carried out by software ADAMS, while achieving its performance specification in three axes.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Jihong Yan AU - Rufei Cai PY - 2017/06 DA - 2017/06 TI - Design and Dynamic Simulation of a Wide-Range Binocular Head-Eye Platform BT - Advances in Materials, Machinery, Electrical Engineering (AMMEE 2017) PB - Atlantis Press UR - https://doi.org/10.2991/ammee-17.2017.71 DO - https://doi.org/10.2991/ammee-17.2017.71 ID - Yan2017/06 ER -