Optimal design of a robotic eye based on spherical parallel mechanism by evolutionary strategy algorithm

This paper proposes a robotic eye based on spherical parallel mechanism with three degrees of freedom. It aims to imitate the human eye with active vision for robots in various unstructured environments. Its kinematic analysis and performance estimation indexes are presented. For the pursuit of best velocity and acceleration accuracies of the eyeball, an optimal design method using evolutionary strategy algorithm is proposed. Compared with the results by previous trial-and-error method, our optimal results bring better performance of the robotic eye, also indicating the verification of the ESA method.