Pointing devices, apparatus, systems and methods for high shock environments

Devices, apparatus, systems and methods for providing accurate linear and angular positioning with a payload mounted to a conical shaped cantilevered supported beam or S shaped cantilevered beam or a center deflecting beam having freely moveable ends. The payload can be a laser pointer mounted on a firearm, which maintains the initial precise pointing during and after exposure in high G shock and vibration environments. Vertical and lateral adjustment controls can adjust minute changes in beam orientation. Precision adjustments can be performed in a zero G, one G, or high G environment and maintains the adjustment during and after being exposed to a high G shock or vibration environment.

FIELD OF INVENTION

This invention relates to precision pointing, in particular to devices, apparatus, systems and methods for providing accurate linear and angular positioning of a payload, such as a laser pointer and maintains the initial precise pointing during and after exposure in high G shock and vibration environments, with the capability of adjusting minute changes in beam orientation, where the beam supporting the payload can be a cantilevered conical shaped beam or cantilevered S shaped beam or a center deflecting beam with freely movable ends. The precision adjustments can be performed in a zero G, one G, or high G environment and maintains the adjustment during and after being exposed to a high G shock or vibration environment.

BACKGROUND AND PRIOR ART

Laser pointing devices have been widely used on firearms to allow the shooter to accurately aim the weapon without using the weapons sights, and are used in military type training systems to simulate an aimed shot. They have also been used in many commercial products and as aids in testing products, also range finders, laser designators, and the like.

The most common firearm application is to mount a laser on a weapon, providing adjustment so the laser can be aligned with the sights and use the laser beam to point the weapon at a target while the trigger is being pulled. Once the shot is fired, the alignment of the laser relative to the sights does not come into play since the bullet is on its trajectory to the target. The patents also claim the mounting and adjustments isolates the laser from the weapons shock which means the laser assembly is designed to move relative to the weapon during the high G shock event from firing the weapon.

The Multiple Integrated Laser Engagement System (MILES) is a training system providing a realistic battlefield environment for soldiers involved in training exercises. The Army developed the original family of MILES devices in the late '70s and early '80s using state-of-the-art technology of that time. MILES is the primary training device for force-on-force training at Army home stations. A MILES system for a soldier includes a laser module (Small Arms Transmitter or SAT) mounted to the barrel of a real weapon, a blank firing adapter, and an integrated receiver with sensors on the helmet and load-bearing vests for the soldiers. The SAT's laser beam is aligned by the solder to the weapon's sights when the SAT is mounted to the weapon. During the training exercise, the soldier aims the weapon on the opposing force soldier using the weapon's standard sights. When a blank shot is fired by the weapon, it causes the laser to fire a coded laser burst in the direction the weapon was aimed. Information contained in the laser pulses includes the player ID and the type of weapon used. If that laser burst is sensed by the receiver of another soldier, the “hit” soldier's gear beacon makes a beeping noise to let them know they are “dead.”

When the weapon fires a blank in the MILES system, unique shock, flash and acoustic signatures are generated. Two of these signatures are decoded to determine a valid event and initiate MILES code transmissions Once a validated event is detected, the transmitter fires 4 Hit Words and 128 Near-Miss Words. Each word is ˜4 milliseconds (msec) long, the duration for 132 words is 484 msec or 0.484 seconds. The laser beam foot print (typical angular foot print size is 1 mrad to 3 mard and the maximum size is limited by the specification) needs to illuminate the detector sensor for the full duration of a Hit or Near-Miss Word to be registered by the receiver software as a Kill or Near-Miss.

In the MILES system, there occurs a gross angular weapon movement after the blank has fired that moves the center of the laser foot print away from the sensor. During the time period from trigger pull to firing of the blank and firing the laser, the weapon moves in a semi-repeatable motion. See U.S. Published Patent Application 2004/0005531 for FIGS. 8, 9 & 10. For open bolt weapons like the M240 and M249, the movement and corresponding error is greater after the trigger pull due to the time required for the bolt to close and the impact of the bolt increases the gross angular weapon movement. The shock from the bolt closing and/or the blank firing causes the SAT housing and mounting components to flex and introduce an addition pointing error to the gross weapon movement error which is not repeatable. Also based on the internal construction, the adjustment mechanism can unload (bounce) during the high G event and introduce additional significant pointing errors which is not repeatable.

The sum of these angular pointing errors sources, (gross weapon movement, SAT component flexure and unloading) start at zero values for time zero (trigger pull) and increase over time. The SAT laser needs to be pointing at the opposing soldier's receiver and illuminating it for the 4 msec duration required to transmit the first hit word. The total angular pointing error movement has to less than half the laser angular footprint by the time the SAT has detected the event and finished transmitting the first hit word. The gross weapon angular pointing error is real and part of the normal system operation. The second and third error sources (flexure and unloading) are the problems. They are not part of the normal system operation and need to be minimized or cancelled. To the extent these are not reduced, the training system will depart from reflecting the actual accuracy of the soldier's performance, failing to register otherwise good hits.

The present SAT design approaches do not maintain the initial precise pointing during and after exposure in high G shock and vibration environments.

Various approaches have been proposed to deal with these types of problems. For example, U.S. Published Patent Application 2004/0005531 to Varshneya et al. describes an elaborate and complex system for calibrating misalignment of a weapon-mounted zeroed small arms transmitter (ZSAT) laser beam axis with the shooter line-of-sight (LOS) in a weapon training system, but fails to easily solve the problem. The proposed solution only addresses the repeatable error produced by the dynamic muzzle displacement from the gross weapon movement not the unrepeatable errors from the flexure and unloading errors.

Some of the proposed devices intentionally shock isolate by allowing movement of the laser beam axis relative to the weapon to prevent damage to the laser or associated electronics and therefore does not maintain alignment during the shock.

Other proposed devices include multiple parts that move relative to each other when the devices are aligned or boresighted. Due to manufacturing tolerances, there are clearances between mating surfaces that slide relative or mate to each other. There is friction at the sliding and spherical joints due to the preload forces. The tangential friction forces at the contacting surfaces produce bending in the components. During the high G shock or vibration event, the friction at the interface surfaces will go to zero and allow the components to slide and rotate to a force free state. This movement will produce a pointing error relative to the initial alignment. The larger the quality of interfaces, the larger the total pointing error after a shock.

Additional problems with the prior art have included devices having sliding or pivoting joints and geared interfaces that have clearance between the none contacting surfaces can become contaminated which will cause binding or increased friction which will increase the pointing angle error.

Prior art devices have included plural components, threaded rods that translate wedges used for alignment, due to clearances between the mating threaded parts, when the direction and adjustment is reversed, hysteresis will be introduced which is a source of error. After adjustment, during the shock, the stiction will be relieved and the wedge can move over the range of the thread clearance producing a pointing error.

Some of the prior art devices include large and heavy components for a 1 G or manufacturing environment where there is no shock or vibration environment and there is no limitation on size, weight or adjustment type and are cumbersome for field use, difficult to adjust in the field, or the alignment is set at the factory.

Some of the prior art includes devices which cannot maintain alignment or boresight over the wide temperature operating range from the low −40° C. to the high temperature where the barrel of the M240 can exceed 350° C. Over this temperature range, any mismatch in the components CTE (coefficient of thermal expansion) will cause binding or increased clearances at the interfaces which will increase the pointing errors. The component's CTE mismatch will also introduce a bimetallic error as the temperature changes from the initial adjustment temperature.

Still other prior art devices use different types of springs to preload the system against the adjustment stops so a payload does not move away from the stop and produce a dynamic pointing error. The springs used cannot produce enough force in the limited volume to counteract the unloading force.

SUMMARY OF THE INVENTION

A primary objective of the present invention is for providing compact devices, apparatus, systems and methods for maintaining accurate linear and angular positioning of a conical shaped cantilevered beam or S shaped cantilevered beam or center deflecting beam with free ends, with each beam having one end with mounted payload, during and after exposure in high G shock and vibration environments, with the capability of adjusting minute changes in beam orientation.

A secondary objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, and does not require joints which have errors.

A third objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, that does not have any static friction (stiction) introduced deflections where the tangential friction forces at the contacting surfaces cause bending deflections of the mechanism's components when boresighted.

A fourth objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, which does not allow contamination to occurs between any bearing or mating surfaces.

A fifth objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, having a single element with no hysteresis, a non-reversing adjustment load and is kinematically stable.

A sixth objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, which is small, and light weight-by combining functions where the mass is reduced and the restraining force required and the associated mass is also reduced.

A seventh objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, that does not show any pointing error over a wide temperature range, from −40° C. to approximately 350° C., and more.

An eighth objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments that is immune from binding at the joints and pointing errors due to any CTE mismatch of the components.

A ninth objective of the present invention is for providing compact devices, apparatus, systems and methods which maintains the initial precise pointing during and after exposure in high G shock and vibration environments, having an adjustment point location that can cancel/reduce the dynamic pointing error introduced by the beams first and second modes of vibrations which are the major contributors to the dynamic pointing errors.

A preferred embodiment of the precision pointing mechanism can include five major components or assemblies. The first component is the base which supports the other components. The second component is the payload which is being positioned and/or pointed. The third component is the conical element that connects to the base and provides linear and/or angular flexure between the payload and the base. The conical element also provides preload force against the adjustment element(s) which are the fourth and fifth components. The fourth and fifth components are the adjustment element(s) that provide displacement of the payload end of the conical element relative to the base. The conical element performs multiple functions; is the structural member attaches the payload to the base, provides the kinematic rotation and linear displacement of the payload and the preload force so the payload does not unload (move away) from the adjustment points during the high G event.

The novel configuration for precision pointing of payloads can include multiple parts that move relative to each other. Given the manufacturing tolerances, there are no clearances between the mating surfaces that can introduce pointing errors after the initial adjustment and allows movement during the high G shock and vibration events that can produce a dynamic pointing error and does not maintain the initial adjustment. Also, stiction between the components can introduce static and dynamic pointing errors. There is no stiction between the components that will be removed during the dynamic environment and allow the components to move relative to each other and produce a static and or dynamic pointing error.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A listing of components will now be described.1. laser system with conical cantilevered beam10. base of housing20. rear wall of housing25. threaded opening for battery30. support housing portions for adjustment controls32. front top of housing33. cover of housing34. front side of housing38. front wall of housing39. cover mounting screws/washer40. cantilevered conical beam42. base wide end43. fastener (nut)48. narrow tip end50. payload52. laser housing53. laser diode56. lens60. lateral adjustment control61. o-ring for lateral adjustment70. vertical adjustment control71o-ring for vertical adjustment80. battery85. battery cover87. connector90. Circuit Card Assembly92. event sensor #194. event sensor #296. antenna cover98. on/off switch100. Firearm mounted application110. upper clamp120. pivotal clamp123. hinge pin125. screw/washer190weapon200. dual laser or laser and detector system220. dual laser or laser and detector payload250. single mirror system270. single mirror payload300. laser system with S shaped cantilevered beam340. S shaped cantilevered beam342. tip end of cantilevered beam348. rear mounted end of S shaped cantilevered beam400. laser system with center deflecting beam420. rear wall of housing425. opening in rear wall with opening having curved interior surface portion(s)430. front wall of housing435. opening in front wall with opening curved interior surface440. center deflecting beam442. rear conical portion of center deflecting beam445. middle portion of center deflecting beam448. front conical portion of center deflecting beam450payload (laser) support housing on front end of center deflecting beam460. rear mount support on rear end of center deflecting beam470. C shaped housing support for vertical and lateral controls500. Cam embodiment510. Cam wheel520. Cam wheel
Conical Shaped Cantilevered Beam

FIG. 1is a perspective upper left front view of a single laser system1.FIG. 2is a perspective upper right front view of the laser system1ofFIG. 1.FIG. 3is a front view of the laser system1ofFIG. 1.FIG. 4is a rear view of the laser system1ofFIG. 1.FIG. 5is a right side view of the laser system1ofFIG. 1.FIG. 6is a left side view of the laser system1ofFIG. 1.FIG. 7is a cross-sectional view of the laser system1ofFIG. 6along arrow7B.FIG. 8is an exploded view of the laser system1ofFIG. 1.

Referring toFIGS. 1-8, the laser system can include a basic components of an outer one-piece type housing to support the main components. The main components can include base10, with a rear solid wall20, and a support housing portions30for adjustment controls60,70, where the support portions can have an inverted C shaped configuration. A cantilevered conical beam40can have a wide base end42that can be mounted in the rear wall20by a fastener (nut)43at attaches about threaded ends of the wide base end42. Other types of mounting techniques can also be used The conical shaped beam can be hollow or solid. A narrow tip end48of the cantilevered beam40can pass through the middle of the C shaped support portions30and the narrow tip end48can be mounted to a payload50that can include a laser housing52with laser diode53and lens56.

The profile of the conical element's effective length can be a straight cylinder but the conical or curved shape provides lower weight and reduced dynamic pointing error. The taper adds to the capacity of the conical element by increasing the area moment of inertia where the moments and stresses are largest at the fixed end and allows material to be removed at the simply support end where the moments and stresses are minimal. The taper also provides a more constant curvature of the conical elements' centerline for a given deflection at the simply supported end.

The conical element's spring constant and deflection shape (slope) vs. displacement distance by the adjustment elements in each axis can be tailored by the type of material (metal, plastic, composite), effective conical element length, cross section shape and conical element profile. The effective spring constant of the system can also be adjusted by the stiffness of the conical element's mounting surface geometry on the base and the mounting interface geometry on the payload housing.

The conical element's coefficient of thermal expansion (CTE) can be adjusted to match the effective CTE of the base and the structure the base is mounted to. Damping material can also be incorporated in the conical element design to dampen the movement and associated pointing error over time.

The position of the outer end48of the cantilevered beam40can be adjustably positioned by both a lateral adjustment control60and vertical adjustment control70. The adjustment controls can be rotatable knobs, screws, and the like.

FIG. 9is an upper front right perspective view of a housing100using the laser system1of the previous figures mounted to a firearm, such as a rifle barrel190.FIG. 10is a lower front right perspective view of the firearm190mounted housing100and laser system1ofFIG. 9.FIG. 11is a top view of the firearm190mounted housing100and laser system1ofFIG. 9.FIG. 12is an exploded view of the firearm190mounted housing100and laser system1ofFIG. 9.

Referring toFIGS. 1-12the laser system1can be mounted to a firearm190such as to a rifle barrel190. The rear end42of the conical beam40can be mounted through the rear wall20with the laser housing50attached as a payload to the tip end48of the cantilevered beam40. A SAT (small arms transmitter) cover33can be placed over an upper opening of a box shaped housing where vertical adjustment control70can threadably attach and pass through an opening in the front top32of housing, and a lateral adjustment control60can threadably attach and pass through an opening in the front side34of the housing. Laser tube housing52with rear mounted diode53and front mounted lens56can pass through a front opening in the front wall38of the housing. An antenna cover96can be mounted to the cover33, and the laser diode53can be controlled by on/off switch98which can be powered by battery80.

CCA is a Circuit Card Assembly, it contains the electronic components that runs the SAT, handles power management, has a processor that runs the software, signal conditions the output of the sensors, tells the laser diode to fire, contains an antenna for wireless communication.

Components92and94are two of the three different sensors, (the shock signature, flash signature or acoustic signature) that are decoded to determine a valid event

Diode53is a laser diode which is a semiconductor device that produces coherent radiation (in which the waves are all at the same frequency and phase) in the visible or infrared spectrum when current passes through it. The most common type of laser diode is formed from a p-n junction and powered by injected electric current. Due to diffraction, the beam diverges (expands) rapidly after leaving the chip, typically at 30 degrees vertically by 10 degrees laterally. A lens must be used in order to form a collimated beam like that produced by a laser pointer. If a circular beam is required, cylindrical lenses and other optics are used. For single spatial mode lasers, using symmetrical lenses, the collimated beam ends up being elliptical in shape, due to the difference in the vertical and lateral divergences Connector87provides for hooking up a cable to charge the battery and manually operate the SAT. The Switch98turns the SAT off and on and is used to set the different modes of operation.

Screws that thread into the housing hold the cover33in place. Battery power supply80can pass through a threaded opening25in the rear wall20of the housing and be held in place by a screwable battery cap85. The housing can be mounted to the rifle barrel190by an upper clamp110under the housing base10, and a pivotable clamp120having a hinge attached end123, and a free-moving end that is held in place by a screw and washer125that fastens to the housing base10.

FIG. 13is a perspective view of a dual laser or laser and detector payload system200. The payload50of the previous figures can be substituted for another payload being a dual laser or laser and detector payload220. The other components of the previous figures can be incorporated herein, such as the components10,20,30,40,60,70.

FIG. 14is a perspective view of a mirror payload embodiment system250. The payload50of the previous figures can be substituted for another payload being single mirror payload270. The other components of the previous figures can be incorporated herein, such as the components10,20,30,40,60,70.

S Shaped Cantilevered Beam

FIG. 15is an upper front left perspective view of another single laser system300with an S shaped cantilevered beam340supporting the laser payload50.FIG. 16is an upper front right perspective view of the another single laser system300with an S shaped cantilevered beam340supporting the laser payload50ofFIG. 15.FIG. 17is a top view of the laser system with S shaped cantilevered beam340ofFIG. 15.FIG. 18is a front view of the laser system with S shaped cantilevered beam340ofFIG. 15.FIG. 19is a right side view of the system with S shaped cantilevered beam340ofFIG. 15.FIG. 20is a left side view of the laser system with S shaped cantilevered beam340ofFIG. 15.FIG. 21is a rear view of the laser system with S shaped cantilevered beam340ofFIG. 15.FIG. 22is an exploded view of the system with S shaped cantilevered beam340ofFIG. 15.

Referring toFIGS. 15-22, the S shaped cantilevered beam340can be solid or hollow, with on end348mounted to the rear wall20of the housing and a cantilevered front end342supporting a payload50, such as those previously described, wherein the lateral and vertical alignment can be adjustably controlled by rotatable knobs/screws60,70, as previously described.

Center Deflecting Cantilevered Beam

FIG. 23is an upper front right perspective view of another single laser system400with a center deflecting beam440supporting the laser450.FIG. 24is an upper front left perspective view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 25is a top view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 26is a front view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 27is a left side view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 28is a right side view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 29is a rear view of the center deflecting beam440supporting the laser450ofFIG. 23.FIG. 30is a cross-sectional view of the center deflecting beam440supporting the laser along arrow30X ofFIG. 25with the beam440in a non-deflected state and boresight pointed down

Referring toFIGS. 23-30, the single laser system400with center deflecting beam400can include similar components to the previous embodiments. Here, the center deflecting beam440can have free ends that are not directly mounted to the rear wall420or to the front wall430. The beam440can have a middle portion445, and a rear conical portion442with the wide part of the conical portion adjacent to the middle portion445. The opposite side of the middle beam portion445can have a front conical portion448with the wide part of the conical portion adjacent to the middle portion445.

A rear mount support460attached to the narrow rear end of the conical portion442is freely supported within an opening425opening in rear wall420with the opening425having curved interior surface portion(s). The geometry of460prevents440from rotating about its axis. The front payload support450can be attached to the narrow end of the front conical portion448can be freely supported within and opening435in the front wall430of the housing, wherein the opening435can also have curved interior surface portion(s). The focus point of the payload can be located at the center of the spherical450geometry and there is not linear translation during alignment, only angular movement. A C shaped portion470of the housing can be located adjacent to the middle portion445of the beam440, wherein the lateral adjustment control460and vertical adjustment control470can each cause the beam440to deflect laterally and vertically when needed. The laser support module housing450can have at least a lower spherical surface that can slide within the curved interior surface of the opening435of the front wall.

FIG. 31is another cross-sectional view of the center deflecting beam440supporting the laser module housing450ofFIG. 30with the beam440deflected down by the vertical adjustment control70with the boresight pointed straight ahead.FIG. 32is another cross-sectional view of the center deflecting beam440supporting the laser module housing450ofFIG. 30with the beam440deflected down and boresight pointed partially down.FIG. 33is another cross-sectional view of the center deflecting beam440supporting the laser module housing450ofFIG. 30with the beam440deflected fully down and boresight pointed up.

Housing Bias Angel and Preload

The bias angle can be driven by two design requirements. The first is the vertical and lateral adjustment range from the mechanical boresight when the payload's centerline(s) are parallel to the base centerline. The second is the lateral and vertical preload forces produced by the conical element acting on the housing over the full adjustment range are greater than the lateral and vertical forces produced by the acceleration level in each axis multiplied times the mass of the housing and the effective mass of the conical element.

The plus and minus adjustment range in each axis from mechanical boresight needs to take into accord any manufacturing tolerances in the SAT assembly, the angular mechanical offsets in the weapon and the angular error associated with the shooter's sight picture.

The maximum bias angle in each axis is greater than the deflection angle required by the conical element at minimum deflection of the housing from the free state that produces a force greater than the unloading force plus two times the plus/minus adjustment range from the mechanical boresight.

FIG. 34shows an example of the relationship between the preload forces over adjustment angle vs. the peak forces due to the acceleration, actual values will vary from system to system.

FIG. 35shows the milliradian (mrad) pointing error in one axis for a system that unloads during a shock event. The housing holding the laser moves away from the hard adjustment elements toward the spring and then unloads and starts bouncing and the error increases to unacceptable levels during the time period of interest, i.e when the laser needs to be fired.

FIG. 36shows the mrad pointing error in one axis for the same system that does not unload during the same shock event, the preload has been increased above the G force level. The housing does not move away from the hard adjustment element and the pointing error is defined by the slope of the conical element at the attachment point to the housing. The slope is governed by the conical element bending between the fixed end at the base and the simply supported end at the housing due to the acceleration load.

The angular pointing error vs. time shown inFIG. 36is when the adjustment element is located 45% of the housing length from the front of the housing. The pointing error can be reduced or minimized by moving the adjustment element location to 80% from the front of the housing, seeFIG. 37. When the Center of Gravity (CG) of the housing is in front of the adjustment point, the force from the housing mass multiplied times the acceleration level produces a bending moment and deflection in the cantilever element opposite the bending moment and deflection in the cantilever element produced by the same acceleration level acting only on the cantilever element.

FIG. 38is a perspective view of a cam version500of the invention.FIG. 39is another perspective view500of the cam version ofFIG. 38. The operator rotates the external knobs which rotate the cams510,520pushes against the payload, which moves the payload along the vertical and horizontal axis.

While the payload50has been described as a laser module, other types of payloads can be used, such as but not limited to a passive receiving elements such as television or electromagnetic spectrum detectors, reflective elements such as optical or electromagnetic spectrum reflectors, active elements such as electromagnetic spectrum transmitters, optical elements that can include refractive or diffractive or reflective optical elements, and indicator or probe components for measuring.

Although rotating knobs and screws can be used other types of vertical and lateral adjustment controls, can be used such other types of threaded elements, cams or levers, or wedges The adjustments could be manual or servo or remotely controlled. The activation could be by electrical, magnetic, thermal, hydraulic or pneumatic actuators. The linear adjustment for each axis(s) can increase or decrease the angular displace relative to the linear adjustment elements. The linear adjustment elements could be actuators, such as solenoids. The threaded elements can employ different thread pitches or differential threaded components to increase or decrease the angular displacement relative to the linear displacement. Bimetallic materials can be used in the adjustment mechanisms. The contact surface between the adjustment element and the housing is curved to minimize the friction and to minimize the pointing errors as the housing moves and rotates relative to the adjustment element.

Different kinematic interfaces can be used at the mating points to reduce errors as required by the system requirements. Typical types of kinematic interfaces include but not limited to; Kelvin clamp, trihedral cup, gothic arch, v-blocks, conical cup, split kinematics to minimize Abbe offset issues, canoe sphere and v-block, flat prismatic components, rose bud couplings and knife edge.