| 摘要 |
An apparatus for two dimensional orientation of an object, providing independent inclining and rotational capability while controlling undesired reactive motions is described. Applications for such a device occur in the fields of measuring and controlling instruments, machine tools, robotics, and various other disciplines requiring orienting mechanisms, for example the positioning of cameras, antennas, or telescopes. The apparatus can be constructed from five annular members, two annular gears, a series of mounting members, a constraining device, and two controllable motors for rotation of two of the annular members. The first, second, and fifth annular members include parallel upper and lower mounting planes. The third and fourth annular members each include an identical angle between their upper and lower mounting planes. The first annular member is mounted to a fixed surface with second through fifth annular members rotatably mounted on top of the first and succeeding members. Typically the rotatable mounting is achieved using devices such as ball or roller bearings. The object to be oriented is mounted to the upper mounting plane of the fifth annular member. By securing the fifth member to the second member with a constraining device, typically a flexible bellows, undesired rotation during inclining operations is eliminated. By linking the fourth and second members together using attached annular positioning means, undesired inclination during rotating operations is eliminated. Externally mounted control devices, typically electric motors connected to worm and ring gear mechanisms, allow the apparatus to rotate continuously without twisting of electrical cables or requiring complex sliding connections.
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