CA2235759A1 - Two degree-of-freedom spherical orienting device - Google Patents

Two degree-of-freedom spherical orienting device

Info

Publication number
CA2235759A1
CA2235759A1 CA002235759A CA2235759A CA2235759A1 CA 2235759 A1 CA2235759 A1 CA 2235759A1 CA 002235759 A CA002235759 A CA 002235759A CA 2235759 A CA2235759 A CA 2235759A CA 2235759 A1 CA2235759 A1 CA 2235759A1
Authority
CA
Canada
Prior art keywords
degree
payload
freedom
cameras
spherical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002235759A
Other languages
French (fr)
Other versions
CA2235759C (en
Inventor
Francois Caron
Clement M. Gosselin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite Laval
Original Assignee
Universite Laval
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universite Laval filed Critical Universite Laval
Priority to CA002235759A priority Critical patent/CA2235759C/en
Publication of CA2235759A1 publication Critical patent/CA2235759A1/en
Application granted granted Critical
Publication of CA2235759C publication Critical patent/CA2235759C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Mounting And Adjusting Of Optical Elements (AREA)

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.
CA002235759A 1997-04-23 1998-04-22 Two degree-of-freedom spherical orienting device Expired - Fee Related CA2235759C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA002235759A CA2235759C (en) 1997-04-23 1998-04-22 Two degree-of-freedom spherical orienting device

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CA2203483 1997-04-23
CA2,203,483 1997-04-23
CA002235759A CA2235759C (en) 1997-04-23 1998-04-22 Two degree-of-freedom spherical orienting device

Publications (2)

Publication Number Publication Date
CA2235759A1 true CA2235759A1 (en) 1998-10-23
CA2235759C CA2235759C (en) 2005-09-27

Family

ID=25679266

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002235759A Expired - Fee Related CA2235759C (en) 1997-04-23 1998-04-22 Two degree-of-freedom spherical orienting device

Country Status (1)

Country Link
CA (1) CA2235759C (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2863102A1 (en) * 2013-09-26 2015-04-22 Wen-Der Trui Spherical coordinates manipulating mechanism
CN107297734A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107297735A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107322573A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107322574A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107351065A (en) * 2017-08-16 2017-11-17 北华航天工业学院 Become born of the same parents' parallel institution
CN107398891A (en) * 2017-08-16 2017-11-28 北华航天工业学院 Become born of the same parents' parallel institution
CN107471199A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107471198A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107498537A (en) * 2017-08-16 2017-12-22 北华航天工业学院 Become born of the same parents' parallel institution
CN107520835A (en) * 2017-08-16 2017-12-29 北华航天工业学院 Become born of the same parents' parallel institution
CN107650112A (en) * 2017-08-16 2018-02-02 北华航天工业学院 Become born of the same parents' parallel institution
CN113169439A (en) * 2018-10-17 2021-07-23 空中客车防务及航天股份有限公司 Articulated mechanism and articulated pointing system comprising said mechanism
CN114251571A (en) * 2021-12-30 2022-03-29 杭州键嘉机器人有限公司 Focus and damping adjustable navigation binocular camera angle of pitch regulation structure

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2863102A1 (en) * 2013-09-26 2015-04-22 Wen-Der Trui Spherical coordinates manipulating mechanism
CN107398891A (en) * 2017-08-16 2017-11-28 北华航天工业学院 Become born of the same parents' parallel institution
CN107471198A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107322573A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107322574A (en) * 2017-08-16 2017-11-07 北华航天工业学院 Become born of the same parents' parallel institution
CN107351065A (en) * 2017-08-16 2017-11-17 北华航天工业学院 Become born of the same parents' parallel institution
CN107297734A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107471199A (en) * 2017-08-16 2017-12-15 北华航天工业学院 Become born of the same parents' parallel institution
CN107297735A (en) * 2017-08-16 2017-10-27 北华航天工业学院 Become born of the same parents' parallel institution
CN107498537A (en) * 2017-08-16 2017-12-22 北华航天工业学院 Become born of the same parents' parallel institution
CN107520835A (en) * 2017-08-16 2017-12-29 北华航天工业学院 Become born of the same parents' parallel institution
CN107650112A (en) * 2017-08-16 2018-02-02 北华航天工业学院 Become born of the same parents' parallel institution
CN113169439A (en) * 2018-10-17 2021-07-23 空中客车防务及航天股份有限公司 Articulated mechanism and articulated pointing system comprising said mechanism
CN113169439B (en) * 2018-10-17 2024-05-07 空中客车防务及航天股份有限公司 Hinge mechanism and hinge pointing system comprising said mechanism
CN114251571A (en) * 2021-12-30 2022-03-29 杭州键嘉机器人有限公司 Focus and damping adjustable navigation binocular camera angle of pitch regulation structure

Also Published As

Publication number Publication date
CA2235759C (en) 2005-09-27

Similar Documents

Publication Publication Date Title
CA2235759A1 (en) Two degree-of-freedom spherical orienting device
US5966991A (en) Two degree-of-freedom spherical orienting device
US9789976B2 (en) Carrier having non-orthogonal axes
US9061415B2 (en) Prismatic/revolute orienting apparatus
CA2333838A1 (en) Multiple-barrel mortar assembly for launching grenades off the side of a combat vehicle
CA2401237A1 (en) Mooring device
WO2003037573A3 (en) Robotic manipulator
WO2006101893A3 (en) Parallel robot
WO2004106011A1 (en) Armilleye: a three degree- of-freedom spherical parallel mechanism
JPS6237248A (en) Back mirror for automobile
JP2004538439A (en) Momentum position control device
CA2099654A1 (en) Antenna Pointing Mechanism
Livingston Sun
US6682019B2 (en) Minimum energy wheel configurations for energy storage and attitude control
JPH02274698A (en) Flying attitude control actuator for spacecraft
WO2003046633A3 (en) High-speed sectorial or panoramic surveillance device without apparent motion
US6152402A (en) Dual spin zero momentum satellite system
SU1219339A1 (en) Industrial robot gripping device
JP7244049B2 (en) gimbal mechanism
KR101917707B1 (en) Active suspension device with 3-axis rotational and 2-axis translational motion
JP2024021798A (en) Extensible device, and test apparatus provided with the same
SU1120586A1 (en) Versions of industrial robot
JPH0485197A (en) Floating navigator (satellite)
JPH04163296A (en) Extension device for extension structure
ODA Space robotics and its man-machine interface

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed

Effective date: 20130422