With Gimbal Lock Preventing Means Patents (Class 74/5.2)
  • Patent number: 11796121
    Abstract: A mechanical hard stop for a sensor system includes a base for fixation to a gimbal or static structure, a movable stop member for engagement with a fixed stop member, and an actuator. The movable stop member has a disengaged position, proximate the base, and an engaged position, spaced apart from the base. The actuator is operably connected to the movable stop member to displace the movable stop member between the disengaged position and the engaged position according to a sensor selection received by the sensor system. Sensor systems and imaging methods are also described.
    Type: Grant
    Filed: November 23, 2021
    Date of Patent: October 24, 2023
    Assignee: Goodrich Corporation
    Inventors: Davis Lange, Luke N. Asselin, Christopher William Helmke
  • Patent number: 11215312
    Abstract: A mechanical hard stop for a sensor system includes a base for fixation to a gimbal or static structure, a movable stop member for engagement with a fixed stop member, and an actuator. The movable stop member has a disengaged position, proximate the base, and an engaged position, spaced apart from the base. The actuator is operably connected to the movable stop member to displace the movable stop member between the disengaged position and the engaged position according to a sensor selection received by the sensor system. Sensor systems and imaging methods are also described.
    Type: Grant
    Filed: September 26, 2019
    Date of Patent: January 4, 2022
    Assignee: Goodrich Corporation
    Inventors: Davis A. Lange, Luke N. Asselin, Christopher William Helmke
  • Patent number: 9809955
    Abstract: A control device for an implement system of a machine is provided. The control device is mounted on a support. The control device includes a first gimbal rotatably coupled to the support. The control device also includes a second gimbal rotatably coupled to the first gimbal. The control device further includes a linear actuator having a first end and a second end. The linear actuator is fixed to the second gimbal from the first end. The control device further includes a handle attached to the linear actuator at the second end. The handle is configured to move in conjunction with rotational movements of the first gimbal and the second gimbal, and a linear movement of the linear actuator to control a movement of the implement system.
    Type: Grant
    Filed: February 16, 2016
    Date of Patent: November 7, 2017
    Assignee: Caterpillar Inc.
    Inventor: Christopher R. Wright
  • Patent number: 8322471
    Abstract: An apparatus and method are described for utilizing internally generated angular momentum for supplementing the propulsion of a mobile spherical vehicle capable of motion by rolling over terrain, thereby enabling such vehicles to climb steeper inclines and overcome larger obstacles. Torque generated by counter-rotating gyroscopes was used to supplement gravity generated torque produced by a pendulum drive propulsion system. Precession torque may be generated along a desired axis by changing the angular momentum of the gyroscopes while leaving its magnitude unaffected.
    Type: Grant
    Filed: November 16, 2009
    Date of Patent: December 4, 2012
    Inventor: Gregory C. Schroll
  • Patent number: 7904214
    Abstract: Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of ? and ?, recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
    Type: Grant
    Filed: October 5, 2009
    Date of Patent: March 8, 2011
    Assignee: The Boeing Company
    Inventor: Christopher J. Heiberg
  • Patent number: 7878276
    Abstract: An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.
    Type: Grant
    Filed: March 30, 2009
    Date of Patent: February 1, 2011
    Inventor: H. Phillip Limbacher, Jr.
  • Publication number: 20090288505
    Abstract: The present invention relates to motors and, more specifically to rotary motors which can supply output motive power about an output axis in response to input rotary power about a different axis. A motor (1) comprises a wheel (2) mounted on a shaft (3) for rotation about a first axis (4). The shaft (3) is additionally mounted for rotation about both an inclination axis (16) and the output axis (11) of the motor (1).
    Type: Application
    Filed: November 13, 2006
    Publication date: November 26, 2009
    Applicant: Erke Erke Arastirmalari Ve Muhendislik A.S.
    Inventor: Mustafa Naci Öztürk
  • Publication number: 20080251646
    Abstract: Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of ? and ?, recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
    Type: Application
    Filed: April 13, 2007
    Publication date: October 16, 2008
    Applicant: THE BOEING COMPANY
    Inventor: Christopher J. Heiberg