Abstract:To ensure requirements of wide search range and smooth and continuous target-tracking in the low-altitude airspace visual monitoring system, a bionic parallel oculogyric mechanism is designed to simulate the function of human extraocular muscles according to the bionic principle. Most of the existing parallel oculogyric mechanisms adopt the single-objective optimization, which can't simultaneously optimize the dip angle of the moving platform and the motion performances including the motion precision, the mechanism dexterity and the motion transmission performance. In order to overcome the problem, non-dominated sorting-based genetic algorithm-Ⅱ (NSGA-Ⅱ) is used to optimize the structural parameters of the mechanism under the constraints of the installation, driver size and hinge angle. An experimental prototype is developed according to the optimized structural parameters. The actual measurement results show that the mechanism designed can achieve satisfactory results in terms of the maximum dip angle and the integrated motion performance of the moving platform, and the dip angle of 55.94° and the precision of 0.01° are realized by the moving platform, which are better than the human vision system as well as related research, and also meet the needs of low-altitude airspace monitoring.
[1] Gosselin C M, Hamel J F. The agile eye:A high-performance three-degree-of-freedom camera-orienting device[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1994:781-786.
[2] Villgrattner T, Ulbrich H. Design and control of a compact high-dynamic camera-orientation system[J]. IEEE/ASME Transactions on Mechatronics, 2011, 16(2):221-231.
[3] Villgrattner T, Ulbrich H. Optimization and dynamic simulation of a parallel three degree-of-freedom camera orientation system[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2010:2829-2836.
[4] Bang Y B, Paik J K, Shin B H, et al. A three-degree-of-freedom anthropomorphic oculomotor simulator[J]. International Journal of Control Automation and Systems, 2006, 4(2):227-235.
[5] Wolfe T B, Faulkner M G, Wolfaardt J. Development of a shape memory alloy actuator for a robotic eye prosthesis[J]. Smart Materials & Structures, 2005, 14(4):759-768.
[6] Li H Y, Luo J, Huang C J, et al. Design and control of 3-DoF spherical parallel mechanism robot eyes inspired by the binocular vestibule-ocular reflex[J]. Journal of Intelligent and Robotic Systems, 2015, 78(3-4):425-441.
[7] Liu H L, Luo J, Wu P, et al. Symmetric Kullback-Leibler metric based tracking behaviors for bioinspired robotic eyes[J]. Applied Bionics and Biomechanics, 2015:No.714572.
[8] Huang C J, Gu J, Luo J, et al. System design and study of bionic eye based on spherical ultrasonic motor using closed-loop control[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2013:2685-2690.
[9] 谢少荣,刘思淼,罗均,等.一种混合驱动柔索并联仿生眼的轨迹规划[J].机器人,2015,37(4):395-402.Xie S R, Liu S M, Luo J, et al. Trajectory planning of a bionic eye using hybrid-driven cable parallel mechanism[J]. Robot, 2015, 37(4):395-402.
[10] Wang X Y, Zhang Y, Fu X J, et al. Design and kinematic analysis of a novel humanoid robot eye using pneumatic artificial muscles[J]. Journal of Bionic Engineering, 2008, 5(3):264-270.
[11] Lee Y C, Lan C C, Chu C Y, et al. A pan-tilt orienting mechanism with parallel axes of flexural actuation[J]. IEEE/ASME Transactions on Mechatronics, 2013, 18(3):1100-1112.
[12] Xie S R, Li S P, Huang J J, et al. Structural parameter optimization for 3-DOF spherical parallel mechanism, binocular stereo[J]. Information Technology Journal, 2012, 11(7):859-867.
[13] 李超,谢少荣,李恒宇,等.基于参数优化的球面并联机构仿生眼设计[J].机器人,2010,32(6):781-786.Li C, Xie S R, Li H Y, et al. Design of bionic eye based on spherical parallel mechanism with optimized parameters[J]. Robot, 2010, 32(6):781-786.
[14] Kelaiaia R, Company O, Zaatri A. Multiobjective optimization of parallel kinematic mechanisms by the genetic algorithms[J]. Robotica, 2012, 30(5):783-797.
[15] Laschi C, Patane F, Maini E S, et al. An anthropomorphic robotic head for investigating gaze control[J]. Advanced Robotics, 2008, 22(1):57-89.
[16] Brunstetter T J, Mitchell G L, Fogt N. Magnetic field coil measurements of the accuracy of extreme gaze ocular fixation[J]. Optometry and Vision Science, 2004, 81(8):606-615.
[17] Pond G, Carretero J A. Dexterity measures and their use in quantitative dexterity comparisons[J]. Meccanica, 2010, 46(1):51-64.
[18] Deb K, Pratap A, Agarwal S, et al. A fast and elitist multi-objective genetic algorithm:NSGA-Ⅱ[J]. IEEE Transactions on Evolutionary Computation, 2002, 6(2):182-197.