Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law |
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| Affiliation: | 1. Automation and Control Institute, TU Wien, Austria;2. Automation and Control Institute, TU Wien, Austria;3. Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands;4. Automation and Control Institute, TU Wien, Austria;5. Mechanical and Space Engineering, University of California Los Angeles, USA;1. Department of Mechanical Engineering, Beijing Jiaotong University, Beijing 100044, PR China;2. Department of Mechanical Engineering, Lassonde School of Engineering, York University, Toronto M3J 1P3, Canada;1. Centro de Investigación en Ingeniería Mecánica, Universitat Politècnica de València, 46022, Spain;2. Departamento de Tecnología y Diseño, Facultad de Ingeniería, Universidad de los Andes, 5101, Mérida, Venezuela;3. Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022, Spain |
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| Abstract: | Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm. |
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| Keywords: | Listing’s law Bionic eye Flexible rope Error compensation Kinematics analysis Newton iterative |
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