Two degree-of-freedom spherical orienting device

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

1998-04-23

1999-10-19

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

7449003, 248661, 901 23, G05G 1100, F16M 1112

Patent

active

059669918

ABSTRACT:
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.

REFERENCES:
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patent: 4628765 (1986-12-01), Dien et al.
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patent: 5028997 (1991-07-01), Elberbaum
patent: 5223969 (1993-06-01), Jeandeau
patent: 5243873 (1993-09-01), Demers
patent: 5418567 (1995-05-01), Boers et al.

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