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 h