| 摘要 |
<p>An angular positioning apparatus is disclosed for rotating a housing (10) mounted within a supporting structure (20) to any angular position relative to a sphere along a plurality of orthogonal axes that intersect at approximately the center of mass of the housing (10). The supporting structure (20) may be comprised of supporting members (20a, 20b) having angular concave surfaces that match the contour of the housing (10) and thus maintain the housing (10) within the supporting structure (20). The housing (10) may be rotated about the axes by an actuator assembly (43, 53, 63) and drive mechanism (41, 51, 61) contacting the wall of the housing (10). Because the axes of rotation intersect the center of mass of the housing (10), or, if a payload is attached to the housing (10), the center of mass of the combination of the housing (10) and payload, the housing (10) can be positioned quickly, accurately, and with minimum force. The housing (10) is stably maintained within the supporting structure (20), regardless of the housing's orientation in three-dimensional space, by ensuring that the distance between the center of the housing (10) and the center of mass of the payload-housing combination is less than the inner radius of the supporting structure (20) where the supporting structure (20) contacts the surface of the housing (10).</p> |
