Three-degree-of-freedom bionic eye based on series-parallel control
A technology of degrees of freedom and bionic eyes, applied in the field of bionic robots, can solve the problems of not realizing the three-degree-of-freedom movement of bionic eyes, and achieve the effect of keeping the center position unchanged, high positioning accuracy, and simple mechanism
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[0020] Refer to the attached drawings, the three-degree-of-freedom bionic eye based on series and parallel control includes: eyeball 1, base plate 2, vertical support 6, horizontal support 7, motor drive part 5, upper four-bar linkage mechanism 3 and right four-bar linkage mechanism 4;
[0021] The eyeball 1 is a spherical cavity structure composed of the anterior eyeball 20 and the posterior eyeball 21; the anterior eyeball 20 and the posterior eyeball 21 are respectively clamped on the anterior eyeball seat 22 and the posterior eyeball seat 23, so that the eyeball 1 cannot follow it. The axis is translated and can only swing up and down or left and right, and the center position of the eyeball remains unchanged; the front eyeball seat 22 and the back eyeball seat 23 are both fixed on the base plate 2; a third motor is provided inside the eyeball 1, and the third motor is used to drive the eyeball 1 The image acquisition sensor inside rotates along the direction of the optical a...
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