Title :
Two miniature pan-tilt devices
Author :
Bederson, Benjamin B. ; Wallace, Richard S. ; Schwartz, Eric L.
Author_Institution :
Vision Applications, New York, NY, USA
Abstract :
The authors investigate two small robotic pan-tilt devices that differ from the conventional motor-on-motor design. The Platform Pantilt is based on a parallel linkage actuated by two small DC linear stepper motors. The spherical pointing motor (SPM) is a two-axis actuator built using three orthogonal motor windings. The SPM is controlled open-loop and is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities up to 600°/sec. It is 4×5×6 cm and weight 160 grams. A subminiature camera consisting of a single CCD sensor chip and a lens assembly that fits on the rotor of this motor have also been built
Keywords :
DC motors; attitude control; cameras; linear motors; robots; stepping motors; 0.015 kg; 0.16 kg; 4 cm; 5 cm; 6 cm; CCD image sensor; CCD sensor chip; DC linear stepper motors; Platform Pantilt; lens assembly; miniature pan-tilt devices; open loop control; orthogonal motor windings; parallel linkage; robotic pan-tilt devices; spherical pointing motor; subminiature camera; two-axis actuator; Actuators; Charge coupled devices; Charge-coupled image sensors; Couplings; DC motors; Lenses; Open loop systems; Robots; Scanning probe microscopy; Velocity control;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220292
