Reaction compensated steerable platform
A reaction compensated steerable platform device is disclosed. The reaction compensated steerable platform device can include a base, a steerable platform movably coupled to the base, and a reaction mass movably coupled to the base. The reaction compensated steerable platform device can also include a primary actuator to cause movement of the steerable platform, and a trim actuator coupled to the reaction mass and the base. In addition, the reaction compensated steerable platform device can include a sensor configured to provide feedback for actuation of the trim actuator. The reaction mass can be configured to move by actuation independent of the trim actuator to compensate for a first portion of a load induced by the movement of the steerable platform. Actuation of the trim actuator can be controlled by the sensor, such that the reaction mass moves to compensate for a second portion of the load induced by the movement of the steerable platform.
1. A reaction compensated steerable platform device, comprising:
a base;
a steerable platform movably coupled to the base;
a reaction mass movably coupled to the base;
a primary actuator to cause movement of the steerable platform;
a trim actuator coupled to the reaction mass and the base; and
a sensor coupled to the base and configured to be disposed between the base and a support structure for the reaction compensated steerable platform device, the sensor being operable to provide feedback for actuation of the trim actuator,
wherein the reaction mass is configured to move by actuation independent of the trim actuator to compensate for a first portion of a load induced by the movement of the steerable platform, and
wherein actuation of the trim actuator is controlled by the sensor, such that the reaction mass moves to compensate for a second portion of the load induced by the movement of the steerable platform.
2. The reaction compensated steerable platform device of claim 1 , wherein the sensor comprises at least one of a load sensor and an accelerometer.
3. The reaction compensated steerable platform device of claim 2 , wherein the load sensor comprises a force sensor.
4. The reaction compensated steerable platform device of claim 1 , wherein the primary actuator is coupled to the steerable platform and the reaction mass, wherein actuation of the primary actuator causes the steerable platform and the reaction mass to move, the reaction mass compensating for the first portion of the load induced by the movement of the steerable platform.
5. The reaction compensated steerable platform device of claim 1 , further comprising a secondary actuator coupled to the reaction mass and the base, wherein the secondary actuator causes the reaction mass to move to compensate for the first portion of the load induced by the movement of the steerable platform caused by the primary actuator.
6. The reaction compensated steerable platform device of claim 5 , wherein the secondary actuator comprises at least three secondary actuators.
7. The reaction compensated steerable platform device of claim 1 , wherein the primary actuator comprises at least three primary actuators.
8. The reaction compensated steerable platform device of claim 1 , wherein the trim actuator comprises at least three trim actuators.
9. The reaction compensated steerable platform device of claim 1 , wherein the steerable platform is movably coupled to the base by a flexure pivot, a bearing, a bushing, or a combination thereof.
10. The reaction compensated steerable platform device of claim 1 , wherein the reaction mass is movably coupled to the base by a flexure pivot, a bearing, a bushing, or a combination thereof.
11. The reaction compensated steerable platform device of claim 1 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in two rotational degrees of freedom.
12. The reaction compensated steerable platform device of claim 11 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in a translational degree of freedom.
13. The reaction compensated steerable platform device of claim 1 , wherein the steerable platform is movably coupled to the base by a C-flexure, a U-flexure, a J-flexure, or a combination thereof.
14. The reaction compensated steerable platform device of claim 1 , wherein the reaction mass is movably coupled to the base by a C-flexure, a U-flexure, a J-flexure, or a combination thereof.
15. A reaction compensated steerable platform device, comprising:
a base;
a steerable platform movably coupled to the base;
a reaction mass movably coupled to the base;
a primary actuator coupled to the steerable platform and the reaction mass, wherein actuation of the primary actuator causes the steerable platform and the reaction mass to move, the reaction mass compensating for a first portion of a load induced by the movement of the steerable platform;
a trim actuator coupled to the reaction mass and the base; and
a sensor coupled to the base and configured to be disposed between the base and a support structure for the reaction compensated steerable platform device, the sensor being operable to provide feedback for actuation of the trim actuator,
wherein actuation of the trim actuator is controlled by the sensor, such that the reaction mass moves to compensate for a second portion of the load induced by the movement of the steerable platform.
16. The reaction compensated steerable platform device of claim 15 , wherein the sensor comprises at least one of a load sensor and an accelerometer.
17. The reaction compensated steerable platform device of claim 15 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in two rotational degrees of freedom.
18. The reaction compensated steerable platform device of claim 17 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in a translational degree of freedom.
19. A reaction compensated steerable platform device, comprising:
a base;
a steerable platform movably coupled to the base;
a reaction mass movably coupled to the base;
a primary actuator coupled to the steerable platform and the base;
a secondary actuator coupled to the reaction mass and the base, wherein the reaction mass moves to compensate for a first portion of a load induced by movement of the steerable platform caused by the primary actuator;
a trim actuator coupled to the reaction mass and the base; and
a sensor coupled to the base and configured to be disposed between the base and a support structure for the reaction compensated steerable platform device, the sensor being operable to provide feedback for actuation of the trim actuator,
wherein actuation of the trim actuator is controlled by the sensor, such that the reaction mass moves to compensate for a second portion of the load induced by the movement of the steerable platform.
20. The reaction compensated steerable platform device of claim 19 , wherein the sensor comprises at least one of a load sensor and an accelerometer.
21. The reaction compensated steerable platform device of claim 19 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in two rotational degrees of freedom.
22. The reaction compensated steerable platform device of claim 21 , wherein each of the couplings of the steerable platform and the reaction mass to the base facilitate relative movement in a translational degree of freedom.