Multiple axis gimbal employing nested spherical shells
First Claim
1. A gimbal for controlling the orientation of a sensor payload to be carried by the gimbal, comprising:
- a substantially spherical first shell configured for rotation about a first axis; and
a payload support structure disposed within and rotatably coupled to the first shell by a direct-drive rotational motor disposed between the first shell and the payload support structure, the direct-drive rotational motor having (i) a rotor housing attached to one of the first shell and the payload support structure and (ii) a stator housing attached to the other of the first shell and the payload support structure, the payload support structure being configured for rotation about a second axis with respect to the first shell, the second axis being orthogonal to the first axis,wherein the rotor housing and stator housing rotate with respect to each other about the second axis.
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Accused Products
Abstract
A multi-axis gimbal has each axis defined by a respective spherical shell driven by a flat, compact motor attached to the driven shell and to a next outer shell (or to an external mounting platform, in the case of the outermost shell). The shells rotate about respective axes. In one configuration, the outermost shell is referred to as the “azimuth” shell because in use it rotates about a vertical axis. The next inner shell is an elevation shell that rotates about a first horizontal axis that is orthogonal to the axis of the camera or other sensor payload. An optional third shell can be used to provide “roll” motion, such as rotating a camera about its axis to obtain a particular rotational orientation with respect to a target.
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Citations
15 Claims
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1. A gimbal for controlling the orientation of a sensor payload to be carried by the gimbal, comprising:
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a substantially spherical first shell configured for rotation about a first axis; and a payload support structure disposed within and rotatably coupled to the first shell by a direct-drive rotational motor disposed between the first shell and the payload support structure, the direct-drive rotational motor having (i) a rotor housing attached to one of the first shell and the payload support structure and (ii) a stator housing attached to the other of the first shell and the payload support structure, the payload support structure being configured for rotation about a second axis with respect to the first shell, the second axis being orthogonal to the first axis, wherein the rotor housing and stator housing rotate with respect to each other about the second axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification