Articulating dome gimbal assembly
A dome protects an articulating gimbal that orients a line-of-sight of a laser beam. The dome is mounted on a host and encloses the articulating gimbal. The dome has first and second shells. The first shell is rotatable about a first axis relative to the host, and the second shell is disposed on the first shell and is rotatable about a second axis relative to the first shell. A first actuator is coupled to the first shell and is configured to rotate the first shell about the first axis relative to the host. A second actuator is coupled to the second shell and is configured to rotate the second shell about the second axis relative to the first shell. A controller is coupled to the first and second actuators and is configured to match the rotation of the first and second shells to the line-of-sight of the laser beam.
1 . A system comprising:
a host;
a laser source mounted on the host;
an articulating gimbal mounted on the host, the articulating gimbal being configured to orient a line-of-sight of a laser beam provided by the laser source by positioning a beam director optical element; and
a structure for protecting the articulating gimbal mounted on the host, the structure comprising:
a dome shell mounted on the host and enclosing the articulating gimbal, the dome shell comprising first and second shells, the first shell defining a spherical segment opening and having a first edge, the second shell being a spherical segment shell mounted in the spherical segment opening of the first shell, the second shell having a window and a second edge, the window having a protective optic therein, the protective optic being supported by the dome shell;
a first actuator coupled to the first shell and being configured to articulate the dome shell about a first axis relative to the host;
a second actuator coupled to the spherical segment shell and being configured to articulate the spherical segment shell about a second axis relative to the first shell, wherein the second axis is a carried axis; and
a controller coupled to the first and second actuators and being configured to actuate the first and second actuators to position the protective optic in the line-of-sight of the laser beam,
wherein the dome shell is configured to be moved independently of the articulating gimbal.
2 . The system of claim 1 , further comprising:
a first seal disposed between the first edge of the first shell and the host;
a second seal disposed between the second edge of the spherical segment shell and the spherical segment opening of the first shell.
3 . The system of claim 1 , wherein the second shell is carried by the first shell.
4 . The system of claim 1 , wherein the first axis is an azimuthal axis relative to the host and the carried axis is a combination azimuthal and elevation axis relative to the host.
5 . The system of claim 1 , wherein the controller is coupled to a gimbal actuator of the articulating gimbal and is configured to receive feedback of articulation of the articulating gimbal from the gimbal actuator, the controller being configured to coordinate the actuation of the first and second actuators to the feedback of the articulation of the articulating gimbal.
6 . The system of claim 1 , wherein the controller is coupled to a gimbal actuator of the articulating gimbal and is configured to control articulation of the articulating gimbal by the gimbal actuator.
7 . The system of claim 1 , wherein the articulating gimbal comprises an azimuth-overelevation gimbal or an equatorial gimbal.
8 . The system of claim 1 , wherein the first and second shells are each composed of a material selected from the group consisting of a metal material, a plastic material, and a composite material.
9 . The system of claim 1 , wherein the first edge circumscribes the first axis about which the first shell is rotatable, wherein the first opening is circular, wherein the second edge circumscribes the second axis about which the second shell is rotatable.
10 . The system of claim 1 , wherein the first opening is offset from the first axis about which the first shell is rotatable; and wherein the first window of the second shell is offset from the second axis about which the second shell is rotatable.
11 . The system of claim 1 , wherein the laser source is a high-energy laser source.
12 . A structure for protecting an articulating gimbal mounted on a host, the articulating gimbal being configured to position a beam director optical element, the structure comprising:
a dome shell mounted on the host and enclosing the articulating gimbal, the dome shell comprising first and second shells, the first shell defining a spherical segment opening and having a first edge, the second shell being a spherical segment shell mounted in the spherical segment opening of the first shell, the second shell having a window and a second edge;
a first actuator coupled to the first shell and being configured to articulate the dome shell about a first axis relative to the host;
a second actuator coupled to the spherical segment shell and being configured to articulate the spherical segment shell about a second axis relative to the first shell, wherein the second axis is a carried axis; and
a controller coupled to the first and second actuators and being configured to actuate the first and second actuators to position the first window in a first line-of-sight of a beam directed by the beam director optical element The structure of claim 1 ,
wherein the dome shell comprises an inner surface concave to the articulating gimble and the inner surface comprises a reflective coating.
13 . A structure for protecting an articulating gimbal mounted on a host, the articulating gimbal being configured to position a beam director optical element, the structure comprising:
a dome shell mounted on the host and enclosing the articulating gimbal, the dome shell comprising first and second shells, the first shell defining a spherical segment opening and having a first edge, the second shell being a spherical segment shell mounted in the spherical segment opening of the first shell, the second shell having a window and a second edge;
a first actuator coupled to the first shell and being configured to articulate the dome shell about a first axis relative to the host;
a second actuator coupled to the spherical segment shell and being configured to articulate the spherical segment shell about a second axis relative to the first shell, wherein the second axis is a carried axis; and
a controller coupled to the first and second actuators and being configured to actuate the first and second actuators to position the first window in a first line-of-sight of a beam directed by the beam director optical element The structure of claim 1 ,
wherein the articulating gimbal having an ancillary optical element having a second line-of-sight adjacent the beam,
wherein the second shell defines an opening therein;
wherein the window comprises:
a bezel mounted in the opening of the second shell and having an outer edge and an inner edge; and
a third actuator coupled to the bezel and being configured to articulate the bezel about a third axis relative to the second shell.
14 . The structure of claim 13 ,
wherein the window further comprises:
a third seal disposed between the outer edge of the bezel and the second opening of the second shell.
15 . The structure of claim 14 , wherein the bezel further comprises an ancillary window therein and wherein the controller is further coupled to the third actuator and is configured to actuate the third actuator to position the ancillary window in the second line-of- sight of the ancillary optical element.
16 . The structure of claim 13 , wherein
the bezel has an ancillary window;
the window further comprises a protective optic mounted in the inner edge of the bezel; and
the controller is further coupled to the third actuator and is configured to actuate the third actuator to position the ancillary window in the second line-of-sight of the ancillary optical element.
17 . A structure for protecting an articulating gimbal mounted on a host, the articulating gimbal being configured to position a beam director optical element, the structure comprising:
a dome shell mounted on the host and enclosing the articulating gimbal, the dome shell comprising first and second shells, the first shell defining a spherical segment opening and having a first edge, the second shell being a spherical segment shell mounted in the spherical segment opening of the first shell, the second shell having a window and a second edge;
a first actuator coupled to the first shell and being configured to articulate the dome shell about a first axis relative to the host;
a second actuator coupled to the spherical segment shell and being configured to articulate the spherical segment shell about a second axis relative to the first shell, wherein the second axis is a carried axis; and
a controller coupled to the first and second actuators and being configured to actuate the first and second actuators to position the first window in a first line-of-sight of a beam directed by the beam director optical element,
wherein the second shell comprises a leaf set containing the window.
18 . The structure of claim 17 , wherein the leaf set comprises a plurality of overlapping slats movable between a stacked condition and an expanded condition.