Apparatus and method for positioning a payload about multiple axes
First Claim
1. An apparatus for positioning a payload, comprising:
- a housing having a hollow spherically shaped contour and adapted to enclose a payload;
a supporting structure having a contour to match the contour of the housing in order to rotatably mount the housing; and
computer-controlled means for automatically rotating the housing about at least three orthogonal axes that intersect at a point within the housing to orient the housing to a predetermined angular position relative to the point of intersection.
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Accused Products
Abstract
An angular positioning apparatus is disclosed for rotating a housing mounted within a supporting structure to any angular position relative to a sphere along a plurality of orthogonal axes that intersect at approximately the center of mass of the housing. The supporting structure may be comprised of supporting members having annular concave surfaces that match the contour of the housing and thus maintain the housing within the supporting structure. The housing may be rotated about the axes by an actuator assembly and drive mechanism contacting the wall of the housing. Because the axes of rotation intersect the center of mass of the housing, or, if a payload is attached to the housing, the center of mass of the combination of the housing and payload, the housing can be positioned quickly, accurately, and with a minimum force. The housing is stably maintained within the supporting structure, regardless of the housing'"'"'s orientation in three-dimensional space, by ensuring that the distance between the center of the housing and the center of mass of the payload-housing combination is less than the inner radius of the supporting structure where the supporting structure contacts the surface of the housing.
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Citations
24 Claims
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1. An apparatus for positioning a payload, comprising:
a housing having a hollow spherically shaped contour and adapted to enclose a payload;
a supporting structure having a contour to match the contour of the housing in order to rotatably mount the housing; and
computer-controlled means for automatically rotating the housing about at least three orthogonal axes that intersect at a point within the housing to orient the housing to a predetermined angular position relative to the point of intersection.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for orienting a payload, comprising a housing having a hollow spherically shaped contour and adapted to enclose the payload;
- means for rotatably supporting the housing so that the housing can be rotated about at least three orthogonal axes that intersect at a center of rotation within the housing, the supporting means contacting the housing at a plurality of locations forming a circle having a radius such that the distance between the center of mass of the housing and the center of the housing is less than the radius; and
computer controlled means for automatically rotating the housing about the at least three orthogonal axes. - View Dependent Claims (17, 18, 19, 20)
- means for rotatably supporting the housing so that the housing can be rotated about at least three orthogonal axes that intersect at a center of rotation within the housing, the supporting means contacting the housing at a plurality of locations forming a circle having a radius such that the distance between the center of mass of the housing and the center of the housing is less than the radius; and
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21. A method for orienting a payload in a predetermined direction in three-dimensional space, comprising the steps of mounting the payload in a housing having a spherically-shaped contour;
- rotatably supporting the housing on a supporting structure having a contour to match the contour of the housing; and
, in response to computer control, automatically rotating the housing within the supporting structure about a plurality of orthogonal axes that intersect at approximately the center of the housing. - View Dependent Claims (22, 23)
- rotatably supporting the housing on a supporting structure having a contour to match the contour of the housing; and
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24. An apparatus for positioning a payload, comprising:
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a housing having a spherically shaped contour and adapted to enclose a payload; a supporting structure having a contour to match the contour of the housing in order to rotatably mount the housing; and computer-controlled means for automatically rotating the housing about at least three orthogonal axes that intersect at a point within the housing to orient the housing to a predetermined angular position relative to the point of intersection, the rotation means further comprising an actuator and a drive device associated with each axes, each of the actuator and drive devices further comprising a motor attached to a roller that is in frictional contact with the surface of the housing for rotating the housing about the associated axes.
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Specification