Cross plane wide-gap motor system for gimbal
First Claim
1. A motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, comprising:
- at least three motors that are separated with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload with respect to said gimbal ball.
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Accused Products
Abstract
An apparatus for the control and alignment of a sensor on a moving vehicle is provided that includes a gimbal ball supported by an outer axis structure and adapted to pivot about an outer elevation axis and about an outer azimuth axis. The outer axis structure is mounted to a vehicle. An inner axis structure includes a cardan shaft that is provided in the ball and is used to support a payload. An inner elevation axis passes through the cardan shaft. The payload is moved about inner pitch inner roll and inner yaw axes over a limited range of motion by the use of a plurality of permanent magnet wide-gap motors that are disposed on the plane of the cardan shaft and maximally away from the yaw axis in the ball. The motors are adapted to each urge the payload to move in two perpendicular axes, depending upon the current that is applied through conductors which pass through a flux field. Control circuitry is used to energize the motors in any desired combination to produce motion in roll, pitch, or yaw.
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Citations
25 Claims
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1. A motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, comprising:
at least three motors that are separated with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload with respect to said gimbal ball. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for increasing the rate of slew for a yaw axis of a gimbal, including the steps of:
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(a) providing a motor system adapted for use with a gimbal ball wherein said gimbal ball is supported by an outer axis structure that includes means for providing for the motion of said gimbal ball about an external elevation axis and about an external azimuth axis, and including at least three motors that are oppositely disposed with respect to each other, and wherein each of said motors is disposed proximate a common plane, said common plane passing through said gimbal ball, and wherein each of said motors is disposed in said gimbal ball distally away from a yaw axis of said gimbal ball, and wherein a portion of each of said motors is attached to said gimbal ball and a remaining portion thereof is attached to a payload that is disposed in said gimbal ball, and wherein each of said motors is adapted to displace said payload about said yaw axis with respect to said gimbal ball; and
(b) slewing said gimbal ball about said yaw axis.
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Specification