Patent ID: 6843574
Filing Date: 2005-01-18
Classification: B81B,G02B

Abstract:
1. An apparatus, comprising: a gimbaled platform capable of rotating about an x-axis and a y-axis, the intersection of the x-axis and y-axis defining a platform origin and a gimbal plane; a first x-rotatable actuator capable of rotating about a first x-actuator axis, the first x-actuator axis being substantially parallel to the x-axis and disposed in the gimbal plane; a first y-rotatable actuator capable of rotating about a first y-actuator axis, the first y-actuator axis being substantially parallel to the y-axis and disposed in the gimbal plane; a first x-wraparound lever arm coupled to the first x-rotatable actuator; a first y-wraparound lever arm coupled to the first y-rotatable actuator; a first x-gimbal spring, coupling the first x-wraparound lever arm to the gimbaled platform, the first x-gimbal spring attaching to the gimbaled platform at a first x-gimbal-spring/gimbaled-platform attachment point; and a first y-gimbal spring, coupling the first y-wraparound lever arm to the gimbaled platform, the first y-gimbal spring attaching to the gimbaled platform at a first y-gimbal-spring/gimbaled-platform attachment point; wherein each gimbal spring comprises at least two component springs coupled in series, each of the component springs having a component compliant axis, the component compliant axis of the at least two component springs making a nonzero angle relative to each other; and wherein the first x-rotatable actuator, the first x-wraparound lever arm, and the first x-gimbal spring are configured such that a positive rotation of the first x-rotatable actuator about the first x-actuator axis induces a positive rotation of the gimbaled platform about the x-axis and wherein the first y-rotatable actuator, the first y-wraparound lever arm, and the first y-gimbal spring are configured such that a positive rotation of the first y-rotatable actuator about the first y-actuator axis induces a positive rotation of the gimbaled platform about the y-axis.