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

Takuto Takahashi, Hiroshi G. Okuno

    研究成果

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ450-455
    ページ数6
    ISBN(電子版)9781538680940
    DOI
    出版ステータスPublished - 2018 12 27
    イベント2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
    継続期間: 2018 10 12018 10 5

    出版物シリーズ

    名前IEEE International Conference on Intelligent Robots and Systems
    ISSN(印刷版)2153-0858
    ISSN(電子版)2153-0866

    Conference

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

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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