Agile eye

THE AGILE EYE The Agile Eye is a 3-DOF 3-RRR spherical parallel manipulator developed for the rapid orientation of a camera. Its mechanical architecture leads to high velocities and accelerations. First, the kinematic model of this manipulator was developed. Then, a geometric optimization was carried out in order to determine the dimensional parameters which would produce the best accuracy for the mechanism. A complete dynamic model was then established. Finally, a prototype was designed and built, and a high-performance controller based on a DSP was developed. The prototype was built in 1993 and has been gaining in popularity ever since. The workspace of the Agile Eye is superior to that of the human eye. The miniature camera attached to the end-effector can be pointed in a cone of vision of 140° with ±30° in torsion. Moreover, due to its low inertia and its inherent stiffness, the mechanism can achieve angular velocities above 1000 °/sec and angular accelerations greater than 20000 °/sec2 whic