SYSTEM AND METHOD FOR POSITIONING A BODY ALONG CONTINUOUS-RANGE INCLINATION AND ROTATION ANGLES

摘要

In a system for controlling the inclination angle and rotation angle of a bo dy (22), a rotary actuator (52) is coupled to a base. A pivot actuator (50) is coupled to an output shaft of the rotary actuator (52). The rotary actuator (52) controls the angular position of the pivot actuator (50). A displacemen t member (34) is coupled to an output shaft of the pivot actuator (50). The pivot actuator (50) controls the linear position of the displacement member (34). A support shaft (48) is pivotably coupled to the displacement member (34). A spherical bearing (37) includes a socket that is coupled to the base and a ball that is coupled to the support shaft (48). In this manner, the angular position and linear position of the displacement member (34) is translated to a corresponding rotation angle and inclination angle in the support shaft (48). This system provides for a continuous range of rotation of the upper body (22) and a continuous range of inclination angles in the uppe r body (22) relative to the lower base. A corresponding method is also disclos ed.