Two degree-of-freedom spherical orienting device

Details Two degree-of-freedom spherical orienting device Two degree-of-freedom spherical orienting device

F - Mech Eng,Light,Heat,Weapons

16

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F16M 11/12 (2006.01) G02B 7/00 (2006.01) G02B 7/182 (2006.01) G02B 27/64 (2006.01) G03B 17/56 (2006.01) H01Q 1/12 (2006.01) H01Q 3/08 (2006.01)

Patent

CA 2235759

The invention provides a simple rugged two degree-of-freedom spherical orienting device applicable to point payloads such as cameras, mirrors, lasers, antennas and the like. A spherical five-bar mechanism with payload support is actuated by two rotary actuators fixed in position to a base. Advantages of the device include: the preserving of image horizon for cameras (in contrast to three degree-of-freedom devices); the ability to position the payload at the geometric center of rotation thereby reducing inertia; high stiffness enabling orientation of large loads and use of high angular velocities and accelerations; simplification of inverse kinematic computation; relatively large outward workspace (approximating a hemisphere) and large internal free space for payload orienting.

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