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Title: Passive orientation apparatus

Abstract

An apparatus that can return a payload to a known orientation after unknown motion, without requiring external power or complex mechanical systems. The apparatus comprises a faceted cage that causes the system to rest in a stable position and orientation after arbitrary motion. A gimbal is mounted with the faceted cage and holds the payload, allowing the payload to move relative to the stable faceted cage. The payload is thereby placed in a known orientation by the interaction of gravity with the geometry of the faceted cage, the mass of the system, and the motion of the payload and gimbal. No additional energy, control, or mechanical actuation is required. The apparatus is suitable for use in applications requiring positioning of a payload to a known orientation after arbitrary or uncontrolled motion, including remote sensing and mobile robot applications.

Inventors:
 [1];  [1];  [1]
  1. Albuquerque, NM
Issue Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
OSTI Identifier:
873979
Patent Number(s):
6286386
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Classifications (CPCs):
Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
passive; orientation; apparatus; return; payload; motion; requiring; external; power; complex; mechanical; systems; comprises; faceted; cage; causes; stable; position; arbitrary; gimbal; mounted; holds; allowing; move; relative; placed; interaction; gravity; geometry; mass; additional; energy; control; actuation; required; suitable; applications; positioning; uncontrolled; including; remote; sensing; mobile; robot; remote sensing; applications requiring; apparatus comprises; apparatus comprise; move relative; mobile robot; stable position; mechanical systems; external power; /74/180/901/248/

Citation Formats

Spletzer, Barry L, Fischer, Gary J, and Martinez, Michael A. Passive orientation apparatus. United States: N. p., 2001. Web.
Spletzer, Barry L, Fischer, Gary J, & Martinez, Michael A. Passive orientation apparatus. United States.
Spletzer, Barry L, Fischer, Gary J, and Martinez, Michael A. Mon . "Passive orientation apparatus". United States. https://www.osti.gov/servlets/purl/873979.
@article{osti_873979,
title = {Passive orientation apparatus},
author = {Spletzer, Barry L and Fischer, Gary J and Martinez, Michael A},
abstractNote = {An apparatus that can return a payload to a known orientation after unknown motion, without requiring external power or complex mechanical systems. The apparatus comprises a faceted cage that causes the system to rest in a stable position and orientation after arbitrary motion. A gimbal is mounted with the faceted cage and holds the payload, allowing the payload to move relative to the stable faceted cage. The payload is thereby placed in a known orientation by the interaction of gravity with the geometry of the faceted cage, the mass of the system, and the motion of the payload and gimbal. No additional energy, control, or mechanical actuation is required. The apparatus is suitable for use in applications requiring positioning of a payload to a known orientation after arbitrary or uncontrolled motion, including remote sensing and mobile robot applications.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2001},
month = {1}
}

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Works referenced in this record:

Rapid world modelling from a mobile platform
conference, January 1997


Advanced Operator Interfaces for a Remote Mobile Manipulation Robot
conference, July 1995

  • Horschel, Daniel S.; Little, Charles Q.; Boissiere, Peter T.
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  • https://doi.org/10.4271/951572