Kinematic and Modal Simulation Analysis of the Bionic Eye Based on Spherical Parallel Mechanism (SPM)
In order to realize stable tracking under bumpy environment, the robot bionic eye constructed by spherical parallel mechanism with 3 DOF is designed based on the characteristics of human being’s eyes. ANSYS and ADAMS are utilized to conduct modal and kinematics property analysis respectively. According to the result of ANSYS modal analysis, the structure highly meets the demands of function and reliability, which lays the foundation for optimization and bump-resistance design. Through ADAMS kinematics analysis, displacement, velocity and acceleration curves of mechanism end effector were obtained, which provides reference for motion control and optimization design.
J. Luo et al., "Kinematic and Modal Simulation Analysis of the Bionic Eye Based on Spherical Parallel Mechanism (SPM)", Applied Mechanics and Materials, Vols. 128-129, pp. 1151-1156, 2012