Abstract
The paper presents the structural design and motion simulation of the robotic eyes with the characteristics of the female eye. The eyeballs/eyelids drive system with total 7 DOFs is proposed. The eyeballs drive system has 3 DOFs and enables the rotation of both eyeballs together around the pitch axis and their independent rotation around the yaw axis. The proposed solution enables the installation of cameras directly into the eyeballs. Also, it is possible to independently rotate the upper/lower eyelids of each eye, where the eyelids, in relation to the eyeballs, are rotated in two planes. Motion simulation of eyeball and upper/lower eyelids is performed. For the range of the motion that corresponds to the human eye, the angular velocities of the eyeball and upper/lower eyelids reach and exceed the kinematic parameters of the human eye.
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Acknowledgements
This research was funded by the Ministry of Education, Science and Technological Development of the Republic of Serbia [III44008] and by the Provincial Secretariat for Higher Education and Scientific Research of AP Vojvodina [114-451-2116/2011]. It is also supported by the National Science Foundation of China [61473283] and by the Chinese State Key Laboratory of Robotics [2014-O08].
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Penčić, M., Čavić, M., Borovac, B., Lu, Z., Rackov, M. (2019). Robotic Eyes with 7 DOFs: Structural Design and Motion Simulation. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_8
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DOI: https://doi.org/10.1007/978-3-319-78963-7_8
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