Global analysis of the double-gimbal mechanism

Autor:	G. Hicks, J. Osborne, Robert J. Fuentes
Rok vydání:	2008
Předmět:	Rotary encoder Engineering business.industry Kinematics Missile guidance Gimbal Revolute joint Slip ring Mechanism (engineering) Control and Systems Engineering Control theory Modeling and Simulation Resolver Electrical and Electronic Engineering business
Zdroj:	IEEE Control Systems. 28:44-64
ISSN:	1941-000X 1066-033X
DOI:	10.1109/mcs.2008.924794
Popis:	The double-gimbal mechanism (DGM) is a multibody mechanical device composed of three rigid bodies, namely, a base, an inner gimbal, and an outer gimbal, interconnected by two revolute joints. A typical DGM, where the cylindrical base is connected to the outer gimbal by a revolute joint, and the inner gimbal, which is the disk-shaped payload, is connected to the outer gimbal by a revolute joint. The DGM is an integral component of an inertially stabilized platform, which provides motion to maintain line of sight between a target and a platform payload sensor. Modern, commercially available gimbals use two direct-drive or gear-driven motors on orthogonal axes to actuate the joints. Many of these mechanisms are constrained to a reduced operational region, while moresophisticated models use a slip ring to allow continuous rotation about an axis. Angle measurements for each axis are obtained from either a rotary encoder or a resolver. The DGM is a fundamental component of pointing and tracking applications that include missile guidance systems, ground-based telescopes, antenna assemblies, laser communication systems, and close-in weapon systems (CIWSs) such as the Phalanx 1B.
Databáze:	OpenAIRE
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