Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

作     者：Xuan-yin Wang Yang Zhang Xiao-jie Fu Gui-shan Xiang 

作者机构：State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 P. R. China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2008年第5卷第3期

页      面：264-270页

核心收录：

学科分类：08[工学] 09[农学] 0901[农学-作物学] 0836[工学-生物工程] 090102[农学-作物遗传育种] 

基　　金：the National Natural Science Foundation of China (Project no. 50875240) the Program for New Century Excellent Talents in University, Ministry of Education, P. R. China (Grant no.NCET-04-0545) 

主　　题：bionic robotics bio-inspiration humanoid robot eye air muscle inverse-kinematic 

摘      要：This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.