Zhi Ern Teoh
  • Projects
    • Harvard University: Insect-Scale Flapping-Wing Robots
    • Harvard University: 2D to 3D by synchronized folding
    • Harvard University: 3 DOF spherical mechanism
    • Stanford University: Jumping Plane
    • Stanford University: Design, Construction, and Testing of Autonomous Aircraft
    • Data Storage Institute, Singapore: Autonomous Indoor Flying Vehicle
    • Cornell University: Passively Stable Flapping Machine
  • Publications

3 DOF spherical mechanism

I designed a 3DOF spherical parallel mechanism inspired by the "Agile Eye" a 3DOF RRR spherical mechanism used  for orienting a camera. Using Printed Circuit-MicroElectroMechanical Systems (PC-MEMS) fabrication techniques, the mechanism can be assembled using an assembly linkage. The "pop-up" structure is returned to the laser where a portion of the assembly linkage (purple and green linkages) is removed releasing the mechanism from the assembly linkage.
By attaching a motor to each of the blue links, the orange stage can undergo pitch, roll and yaw rotations. This stage has the potential to be used to orient a camera or distance measurement sensor. 
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  • Projects
    • Harvard University: Insect-Scale Flapping-Wing Robots
    • Harvard University: 2D to 3D by synchronized folding
    • Harvard University: 3 DOF spherical mechanism
    • Stanford University: Jumping Plane
    • Stanford University: Design, Construction, and Testing of Autonomous Aircraft
    • Data Storage Institute, Singapore: Autonomous Indoor Flying Vehicle
    • Cornell University: Passively Stable Flapping Machine
  • Publications