Conceptual Design and Simulation of a Dual-Axis Parallel Manipulator Eye Mechanism for Space

Abstract

Camera steering mechanisms have been extensively used in the International Space Station; rovers of interplanetary missions; and humanoids for surveillance, path planning, and experimentation. Based on the application, both stereoscopic and planar imaging have been used; and mechanisms have been suitably configured. A suitable articulating system for stereoscopic imaging can be configured by mimicking the motion of human eyeballs. Thus, a generic Dual-Camera Dual-Axis articulating Mechanism (DCDM) has been configured that can be used as a pair of eyes for a humanoid or an articulating mechanism for navigation cameras on rovers as well as surveillance cameras for hazard detection. This paper provides the details of a DCDM, which mimics the motions of the human eye and enables real-time stereoscopic imaging. The transmission chain is built using parallel manipulations. This paper brings out a conceptual design and associated dynamic motion simulation analysis for validation of the concept. The mechanism presented articulates the camera alone, and thereby helps in minimizing motion of the entire rover or a humanoid for over a larger imaging area.