New generation of gimbals systems for laser positioning applications

Sofka, Jozef; Skormin, Victor A.; Nikulin, Vladimir V.; Nicholson, Donald J.; Rosheim, Mark

doi:10.1117/12.506128

Cited by 14 publications

(14 citation statements)

References 3 publications

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“…2.2 showing the x and z axes of all intermediate coordinate frames defined according to [1]. The corresponding Denavit-Hartenberg parameters could be found to derive the transformation between the stationary frame and the sensor mount frame through Leg A and Leg B [2]. Both transformations are equal to the transformation into the yaw, pitch and roll coordinate system:…”

Section: Pose Kinematicsmentioning

confidence: 99%

“…In the next step, S 2 is expressed from element of the transformation matrices in [2] and manipulated further to produce [2] ( ) …”

Section: Inverse Pose Kinematicsmentioning

confidence: 99%

“…In an equivalent procedure, S 6 can be expressed from element of the transformation matrices to produce [2] ( ) …”

Section: Inverse Pose Kinematicsmentioning

confidence: 99%

“…Because of the complicated structure of the device, a response was collected at thirteen different points on the hemisphere covered by Omni- The results of the estimation are summarized in [2] and [3], where the placement of poles at the thirteen different locations for axis 1 and axis 2 in positive and negative direction were found.…”

Section: Dynamicsmentioning

confidence: 99%

“…Elements Φ ij (x,y), i,j=1,2, reflect the complex kinematics of the Omni-Wrist structure. Analysis of the system has resulted in a system of trigonometric equations; however, these equations are too complex for any direct use, and it seems to be more practical to represent both the kinematics and inverse kinematics of the device by a sequence of three transformations [2]. Development of this module implies the solution of the direct pose kinematics problem utilizing the DenavitHartenberg approach and finding transformation of the linear encoder readings into joint coordinates, then into the yaw, pitch and roll angles, and finally into the azimuth and declination coordinates.…”

Section: Dynamicsmentioning

confidence: 99%

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Hybrid Steering Systems for Free-Space Quantum Communication

Nikulin¹

2007

Self Cite

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. SPONSOR/MONITOR'S ACRONYM(S) 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)AFRL/IFB 26 Electronic Parkway Rome NY 13441-4514 SPONSORING/MONITORING AGENCY REPORT NUMBER AFRL-IF-RS-TR-2007-53 DISTRIBUTION AVAILABILITY STATEMENT APPROVED FOR PUBLIC RELEASE; DISTRIBUTION UNLIMITED. PA# 07-072 SUPPLEMENTARY NOTES ABSTRACTThe proposed research will utilize a mechanical gimbal for extended range of optical connectivity, and a fast beam deflector to create a hybrid beam steering system capable of exercising a very high positioning bandwidth over a full hemisphere of steering angles. System design process will include the solution of such underlying problems as the development of the mechanical and optical subsystems, mathematical description of the hybrid device, optimal task distribution between the mechanical and non-mechanical positioning components, and coordination of the operation of the "coarse" and "fine" system controllers. This work will hybrid two separate technologies using the advantages of each. SUBJECT TERMSQuantum communication, mechanical gimbal, optical connectivity, hybrid beam steering SECURITY

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Section: Pose Kinematicsmentioning

confidence: 99%

“…In the next step, S 2 is expressed from element of the transformation matrices in [2] and manipulated further to produce [2] ( ) …”

Section: Inverse Pose Kinematicsmentioning

confidence: 99%

“…In an equivalent procedure, S 6 can be expressed from element of the transformation matrices to produce [2] ( ) …”

Section: Inverse Pose Kinematicsmentioning

confidence: 99%

Section: Dynamicsmentioning

confidence: 99%

Section: Dynamicsmentioning

confidence: 99%

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Hybrid Steering Systems for Free-Space Quantum Communication

Nikulin¹

2007

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Kinematic Optimal Design of a 2-DoF Parallel Positioning Mechanism Employing Geometric Algebra

Huo

Wang

2018

Adv. Appl. Clifford Algebras

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Investigation of a novel 2R1T parallel mechanism and construction of its variants

2021

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A 3-RRPRR variable spherical symmetrical parallel mechanism (PM) with arc-shaped sliding pairs and no parasitic motion is presented, exhibiting two rotational and one translational (2R1T) degrees of freedom. Three limbs are symmetrically distributed between the base and end-effector; upper and lower parts of each limb are mirror symmetrical around the middle. The geometry, mobility, forward/inverse kinematics, workspace, and parasitic motion of the mechanism are analyzed, showing its ability to achieve large rotations around a continuous rotation axis. Finally, a structure synthesis strategy for variable spherical symmetrical PM is proposed, and several limb types meeting the conditions are obtained.

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New generation of gimbals systems for laser positioning applications

Cited by 14 publications

References 3 publications

Hybrid Steering Systems for Free-Space Quantum Communication

Hybrid Steering Systems for Free-Space Quantum Communication

Kinematic Optimal Design of a 2-DoF Parallel Positioning Mechanism Employing Geometric Algebra

Investigation of a novel 2R1T parallel mechanism and construction of its variants

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