Multi-axis actuator with differential drive

Patent metadata

Field	Value
Publication number	US-11747613-B2
Application number	US-202017090317-A
Country	US
Kind code	B2
Filing date	Nov 5, 2020
Priority date	Nov 5, 2020
Publication date	Sep 5, 2023
Grant date	Sep 5, 2023

Abstract

A multi-axis rotary actuator includes a payload support configured to be rotatable about a first axis, a disk surrounding at least a portion of the payload support, and an elevation wheel rotatably coupled to the payload support. The disk is configured to be rotatable about the first axis. The elevation wheel is configured to be in contact with the disk and to be rotatable about a second axis perpendicular to the first axis. The actuator can include a mirror or other device coupled to the elevation wheel. The mirror or other device is configured to be rotatable about the first axis and the second axis as the payload support and the elevation wheel rotate about the first axis and the second axis, respectively.

First claim

What is claimed is:

1. A multi-axis rotary actuator, comprising:
a payload support configured to be rotatable about a first axis;
a disk surrounding at least a portion of the payload support, the disk configured to be rotatable about the first axis independently of the payload support; and
an elevation wheel rotatably coupled to the payload support, the elevation wheel configured to be in contact with the disk and to be rotatable about a second axis perpendicular to the first axis as a function of the differential angular rotations of the payload support and the disk.

2. The actuator of claim 1 , further comprising a mirror coupled to the elevation wheel and configured to be rotatable about the first axis and the second axis as the payload support and the elevation wheel rotate about the first axis and the second axis, respectively.

3. The actuator of claim 1 , further comprising at least one idler wheel coupled to the payload support and configured to be in contact with the disk.

4. The actuator of claim 3 , wherein the disk includes an integral flexure spring configured to bias the disk against the at least one idler wheel.

5. The actuator of claim 1 , further comprising a counterweight coupled to the elevation wheel or to the payload support.

6. The actuator of claim 1 , further comprising a base assembly rotatably coupled to the payload support and the disk, the base assembly comprising:
a first open bore torque motor configured to rotate the payload support about the first axis; and
a second open bore torque motor configured to rotate the disk about the first axis independently of the payload support.

7. The actuator of claim 6 , further comprising:
a first encoder sensor configured to provide first position information to first open bore torque motor; and
a second encoder sensor configured to provide second position information to the second open bore torque motor.

8. The actuator of claim 1 , wherein the disk includes at least one of a ceramic material, anodized aluminum, and/or stainless steel.

Assignees

• Bae Sys Inf & Elect Sys Integ

Inventors

• Knotts Michael E
• Marcinuk Adam J
• Willis Chris L

Classifications

• G02B26/105 Primary

  with one or more pivoting mirrors or galvano-mirrors (G02B26/101 takes precedence) · CPC title

• F16H48/00

  Differential gearings (cooling or lubricating of differential gearing F16H57/04) · CPC title

• F16M11/00

  Stands or trestles as supports for apparatus or articles placed thereon {; Stands for scientific apparatus such as gravitational force meters} (without heads F16M13/00; easels or stands for blackboards or the like A47B97/04; show-stands A47F7/00; for workmen E04G1/32; {sockets or holders for poles or posts E04H12/22;} supporting or suspending for lighting devices F21V21/00) · CPC title

• G02B7/1821

  for rotating or oscillating mirrors · CPC title

• G02B26/101 Primary

  with both horizontal and vertical deflecting means, e.g. raster or XY scanners (colour television using laser beams scanning a display screen H04N9/3129) · CPC title