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:
-
- 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):
-
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- 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 = {Mon Jan 01 00:00:00 EST 2001},
month = {Mon Jan 01 00:00:00 EST 2001}
}
Works referenced in this record:
Rapid world modelling from a mobile platform
conference, January 1997
- Barry, R. E.; Jones, J. P.; Little, C. Q.
- Proceedings of International Conference on Robotics and Automation
Advanced Operator Interfaces for a Remote Mobile Manipulation Robot
conference, July 1995
- Horschel, Daniel S.; Little, Charles Q.; Boissiere, Peter T.
- International Conference on Environmental Systems, SAE Technical Paper Series