Optimization and dynamic simulation of a parallel three degree-of-freedom camera orientation system

Information about a user and his intentions can be gained evaluating images acquired from the user´s subjective perspective. A possibility to yield high quality images, even under dynamic conditions, is to align a camera with the human gaze direction. Thus, the camera orientation system must cope with the high dynamic human eye movements. Since the system is intended to be head-mounted it must keep small and light. In this paper a spherical parallel manipulator with three degrees-of-freedom is introduced. Beside the kinematic the dynamic model is derived. Furthermore the workspace/package ratio is optimized. To estimate the needed actuator forces and velocities, kinematic and dynamic simulations are carried out. Simulations and measurements obtained with a prototype are presented. Both, simulations and measurements, demonstrate that the device meets the requirements.