Design and Implementation of Programmable Drawing Automata based on Cam Mechanisms for Representing Spatial Trajectory

Takuto Takahashi, Hiroshi G. Okuno

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper presents the design and implementation of a preliminary version of a programmable drawing automaton (PDA-0) that draws a user-specified 3D trajectory. PDA-0 is strongly inspired by Jaquet Droz's a programmable drawing automaton built in the 1770s using 6,000 moving parts, which was hand-coded. PDA-0 consists of RSSR (Revolute-Spherical-S-R) linkage and cam mechanisms with three interchangeable cams. Interchangeable cams make PDA-0 programmable because a user-specified 2D/3D trajectory is encoded into the set of three cams. The user programs PDA-0 by specifying a trajectory via a GUI or 3D animation. Subsequently, the compiler estimates a 3D trajectory mathematically from the user-specified 2D/3D trajectory and calculates the shape of the three cams, i.e., a code for PDA-0 by solving kinematic constraints. Finally, PDA-0 with the 3D-printed cams executes the code to draw the user-specified trajectory. The current PDA-0 with three cams demonstrates drawing simple trajectories such as letters and symbols.

    Original languageEnglish
    Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages450-455
    Number of pages6
    ISBN (Electronic)9781538680940
    DOIs
    Publication statusPublished - 2018 Dec 27
    Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
    Duration: 2018 Oct 12018 Oct 5

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    CountrySpain
    CityMadrid
    Period18/10/118/10/5

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    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Takahashi, T., & Okuno, H. G. (2018). Design and Implementation of Programmable Drawing Automata based on Cam Mechanisms for Representing Spatial Trajectory. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 450-455). [8594443] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594443