Design and Manufacturing  of  a Spherical Parallel Robot as Agile Eye (RoboCam)

Parallel robots are preferred to perform more accurate tasks, or larger force interactions. Also, in some applications where a high speed motion is desired. The RoboCam was proposed for high speed rotation which can be exploited as an agile eye. It is a spherical parallel manipulator with 3RRR degrees of freedom. Deriving of the generalized inertia matrix, the global dynamic conditioning index has been developed based on this matrix. The developed index has been optimized using Genetic-Algorithm subjected to geometric and task constraints, for optimal design. Using an on-board camera, RoboCam is used for recognition and tracking of fast moving objects. Also, it is being used as a benchmark setup for experimental verifications in developing various vision processing techniques and control algorithms.