Based on anatomy and kinematics of human's eyeball, a 3-DOF (degree of freedom) bionic eye with hybrid-driven cable parallel mechanism (CPM) is presented according to Listing's law. An inverse kinematics model is built with the vector closure method, and Jacobian matrices and structure matrices of CPMs are solved. Force moment equilibrium equations of CPMs are established based on Darren Bell's theorem. With the aim of minimizing the 2-norm of cable tension vectors, tension distribution is optimized according to generalized inverse matrix theories. The reachable work space of the bionic eye is calculated with Monte-Carlo method. Finally, the trajectories of CPMs are planned in Simulink environment, the corresponding kinematic performance results are obtained, and the designed mechanism is proven to be in accordance with Listing's law. The result shows that the bionic eye using hybrid-driven CPM is reasonable, and the derived mathematical models are correct.
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