Importance

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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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First Claim