Development of 3 DOF Parallel Spherical Robot for Artificial Eyeball
인공안구 구현을 위한 병렬 구조의 3자유도 회전 로봇 개발

Sung Ryung Park, Seung Han Yang
2014 Journal of the Korean Society for Precision Engineering  
In this research, three degree-of-freedom parallel spherical robot is developed for an artificial eyeball. The proposed system is comprised of a moving and a base plate, three prismatic actuators, and a ball joint for an angular movement of the moving plate. The vector analysis is employed to investigate the relationship between positions of the actuators and a pose of the moving plate. The required ranges for every actuators are calculated using the derived inverse kinematics in regard to the
more » ... s in regard to the combination of two different levels for the size of the system component. Then the size of every components is determined from the analyzed trend. PI controller is employed for the position control of the moving plate. Finally the proposed system is verified using an arbitrary path of the angular movement.
doi:10.7736/kspe.2014.31.6.535 fatcat:o5ccccaqz5az5pettsuj7wdqoy