Multi-axial mast positioning system
A multi-axial mast positioning system includes a frame having two opposed vertical sections, an axle coupled to the frame and rotatable around a first axis passing through the opposed vertical sections of the frame, and a mast coupled to the axle and rotatable about a second axis aligned with and perpendicular to the first axis. Level sensors measure the orientation of the mast along the first and second axes.
1. A multi-axial mast positioning system comprising:
a frame having first and second opposed vertical sections;
an axle having a first and second end, the first end rotatably coupled to the first vertical section of the frame;
a first rotary actuator having a first end mounted to the second vertical section of the frame and a second end rotatable with respect to the first end attached to the axle so as to rotate the axle;
a mast having a plurality of telescoping sections extendable from a base section along a longitudinal axis thereof;
a second rotary actuator having a first end and a second end rotatable with respect to the first end, the first end attached to the base section of the mast at an intermediate position along the length of the base section, the second end attached to a single point along the axle at a position essentially midway between the first and second vertical sections of the frame so as to tilt the mast about a tilt axis aligned perpendicular to the longitudinal axis of the mast.
2. The multi-axial mast positioning system of claim 1 wherein the mast is coupled to the second rotary actuator at a point proximate to its center when the telescoping sections of the mast are in a retracted position.
3. The multi-axial mast positioning system of claim 1 further comprising:
a first orientation sensor coupled to the mast to sense an orientation of the axle; and
a second orientation sensor coupled to the mast to sense an orientation about the tilt axis.
4. The multi-axial mast positioning system of claim 3 , further comprising:
a control system coupled to the first and second orientation sensors and to the first and second rotary actuators, the control system configured to engage the first and second rotary actuators to move the mast to a substantially vertical orientation in response to signals from the first and second orientation sensors.
5. The multi-axial mast positioning system of claim 4 wherein the control system is capable of continuous operation.
6. The multi-axial mast positioning system of claim 4 wherein the control system is further configured to engage the first and second rotary actuators to move the mast to a stowed orientation.
7. The multi-axial mast positioning system of claim 1 , further comprising:
a mast-telescoping motor drive coupled to the plurality of telescoping sections of the mast to extend and retract the telescoping sections of the mast.