Two-axis Gimbal with Passive Revolute Joints for Motion Isolation of a Stabilizing Mechanism

Abstract

Energy efficiency is a salient design consideration for stabilization mechanisms when assembled on a battery-powered vehicle. In this paper we study the implementation of a two-axis gimbal with passive revolute joints for motion isolation of an inertially stabilized platform (ISP) mounted on a host vehicle. The objective is for the ISP to maintain a steady line of sight (LOS) of a payload placed in an arbitrary position on the ISP workspace by performing mass stabilization. The proposed method eliminates the need to operate gimbal motors throughout the operation of the host vehicle, stabilizing the platform LOS by relying on the gimbal passive joints acting as suspension to isolate the ISP from disturbancesimparted by the host vehicle. We describe the principle of operation and a prototype of the proposed stabilizing mechanism is presented.

Dynamic analysis and stabilizing control of three-axis spherical gimbal

“…A three-axis attitude controller based on proportional-derivative control law was applied to satellite dynamics. In the study by Moya et al, 4 a two-axis gimbal with passive revolute joints was proposed for motion isolation of an inertial stabilized platform. The operating principle of the proposed stabilizing gimbal mechanism was analyzed.…”