Compact two axis gimbal for control stick
First Claim
1. A compact two-axis control stick comprising:
- a pilot input device pivotable about a pitch axis and a roll axis;
a pitch force feedback drive including;
a pitch motor including an output shaft;
a pitch gear train including a pitch sun gear mounted to the output shaft of the pitch motor, a plurality of pitch planet gears mounted to a permanently fixed position pitch carrier, and a pitch ring gear, the plurality of pitch planet gears radially positioned between the pitch sun gear and the pitch ring gear;
a roll force feedback drive including;
a roll motor including an output shaft;
a roll gear train including a roll sun gear mounted to the output shaft of the roll motor, a plurality of roll planet gears mounted to a fixed position roll carrier, and a roll ring gear, the plurality of roll planet gears radially positioned between the roll sun gear and the roll ring gear; and
a pitch linkage operably coupling the pitch force feedback drive to the pilot input device, the pitch linkage being operably coupled to the pilot input device and the pitch ring gear such that rotation of the pitch ring gear causes rotation of the pilot input device about the pitch axis;
a roll linkage operably coupling the roll force feedback drive to the pilot input device, the roll linkage being operably coupled to the pilot input device and the roll ring gear such that rotation of the roll ring gear causes rotation of the pilot input device about the roll axis.
1 Assignment
0 Petitions
Accused Products
Abstract
An electromechanical portion of the control stick includes a two-axis gimbal, with each axis including a mechanical gimbal structure supported by rolling element bearings, cam based centering mechanisms, linkages to connect a geared power-drive including a resolver commutated brushless DC motor and compound-planetary gearhead to provide active force feedback, and several electrically independent RVDT position sensors. The gearing architecture uses a fixed-cage, rotating internal gear arrangement on a planetary gearhead, which may be single or multi-stage. The output torque of the gearhead is provided by a feature on the outer housing of the rotating internal ring gear, allowing an axial placement of the entire power-drive in a more central location, reducing the moment load on the gearhead output cage bearings, and facilitating a compact drive arrangement of the gimbal using linkages. Additionally, a common power-drive can be used for both the roll and pitch axes.
31 Citations
20 Claims
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1. A compact two-axis control stick comprising:
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a pilot input device pivotable about a pitch axis and a roll axis; a pitch force feedback drive including; a pitch motor including an output shaft; a pitch gear train including a pitch sun gear mounted to the output shaft of the pitch motor, a plurality of pitch planet gears mounted to a permanently fixed position pitch carrier, and a pitch ring gear, the plurality of pitch planet gears radially positioned between the pitch sun gear and the pitch ring gear; a roll force feedback drive including; a roll motor including an output shaft; a roll gear train including a roll sun gear mounted to the output shaft of the roll motor, a plurality of roll planet gears mounted to a fixed position roll carrier, and a roll ring gear, the plurality of roll planet gears radially positioned between the roll sun gear and the roll ring gear; and a pitch linkage operably coupling the pitch force feedback drive to the pilot input device, the pitch linkage being operably coupled to the pilot input device and the pitch ring gear such that rotation of the pitch ring gear causes rotation of the pilot input device about the pitch axis; a roll linkage operably coupling the roll force feedback drive to the pilot input device, the roll linkage being operably coupled to the pilot input device and the roll ring gear such that rotation of the roll ring gear causes rotation of the pilot input device about the roll axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of providing force feedback to a pilot input device comprising:
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sensing a displacement of the pilot input device about a pitch axis; providing pitch force feedback to bias the pilot input device back toward a pitch home position using a pitch force feedback drive operably connected to the pilot input device with a pitch linkage, the pitch force feedback drive including; a pitch motor including an output shaft; and a pitch gear train including a pitch sun gear mounted to the output shaft of the pitch motor, a plurality of pitch planet gears mounted to a permanently fixed position pitch carrier, and a pitch ring gear, the plurality of pitch planet gears radially positioned between the pitch sun gear and the pitch ring gear, the pitch linkage operably coupled to the pitch ring gear; sensing a displacement of the pilot input device about a roll axis; and providing roll force feedback to bias the pilot input device back toward a roll home position using a roll force feedback drive operably connected to the pilot input device with a roll linkage, the roll force feedback drive including; a roll motor including an output shaft; and a roll gear train including a roll sun gear mounted to the output shaft of the roll motor, a plurality of roll planet gears mounted to a fixed position roll carrier, and a roll ring gear, the plurality of roll planet gears radially positioned between the roll sun gear and the roll ring gear, the roll linkage operably coupled to the roll ring gear. - View Dependent Claims (12, 13, 14)
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15. An apparatus for providing force feedback to a pilot input device comprising:
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a force feedback drive including; a motor including an output shaft; and a gear train including a sun gear mounted to the output shaft of the motor, a plurality of planet gears mounted to a fixed position carrier, the fixed position carrier being fixed during all phases of operation, and a ring gear, the plurality of planet gears radially positioned between the sun gear and the ring gear; and a linkage configured to operably couple the force feedback drive to the pilot input device, the linkage is configured to be operably coupled to the pilot input device, the linkage being operably coupled to the ring gear such that rotation of the pitch ring gear causes motion of the linkage. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification