DESIGN AND IMPLEMENTATION OF A PARALLEL THREE-DEGREE-OF-FREEDOM CAMERA MOTION DEVICE

摘要

This report documents the design and implementation of a camera motion device that is able to reach the dynamics of the human oculomotoric system. At the same time size and weight of the structure have been kept as small as possible. A major design target was to create a system which has a non-serial structure in order to minimize the number and mass of moving components. Especially no actuator should be mounted on a moving part to reduce the inertia of driven components. This has been achieved by a system consisting of concentric Cardan joints. The presented structure has a nonlinear kinematic behaviour. An analytical solution for the inverse kinematics has been found. The motion device is a system component of a wearable head-mounted camera that is able to keep the optical axis of the camera parallel to the gaze direction of the human eye. The human oculomotoric system controls the eye movements even during head movements in order to deliver a quasistatic visual impression. The idea is to use the stabilized gaze direction of the human eye as an input signal for the technical system, so a biological system keeps the camera image steady.