6DOF Camera Orienter

In this project, me and my friend designed and developed of a 6DOF camera orienter for moving and orienting a microscope camera for legal document's forgery detection. The aim of this device is to focus on a selected part of a document and take close pictures from different angles. We designed a 3DOF cartesian mechanism, inspired by RepRap 3D printer design, along with a 2DOF pan-tilt mechanism are used to position and orient the camera and a 1DOF rolling mechanism for adjusting the camera's focus. We used stepper motors and programmed the device by Arduino board.