Development and CAD analysis of a spherical platform with parallel kinematics and intersecting axes for a mobile robot vision system

Abstract

This paper considers the design process of a spherical mechanism with a parallel structure for three-axis stabilization of machine vision systems in mobile robotic platforms. A comparative review of existing camera positioning platforms is carried out, and the choice of a topology with three rotational degrees of freedom is justified, providing full three-axis rotational mobility with intersecting axes to minimize system inertia. An algorithm for top-down design of a solid 3D model in the cloud-based CAD system Onshape is described. Conceptual solutions for integrating the payload (a camera module weighing 50 g) at the optical center of rotation of the mechanism are presented. The overall dimensions of the developed system are 2650 × 2650 × 1500 mm, and MG995 servo drives are selected as actuators. A basic mathematical model for solving the inverse kinematics problem is formulated, which is required for subsequent control system synthesis.