Spacecraft payload positioning with respect to a virtual pivot point
View Patent ↗A spacecraft payload element is rotated by a mechanism about virtual pivot point (VPP) substantially distant from the mechanism. The mechanism couples the payload element to a spacecraft main body structure, and has a four-bar linkage configured to rotate the payload element about a virtual pivot point (VPP). The VPP may be proximate to the focus or center of gravity (cg) of the payload element. Rotation of the payload element about the VPP may be controlled by linear or rotary actuators which drive the four-bar linkage. The four-bar linkage may be configured to provide a mechanical advantage to the actuator.
1. A spacecraft comprising:
a main body structure;
a payload element; and
a mechanism, said mechanism coupling the payload element to the main body structure, and comprising a four-bar linkage, the four-bar linkage comprising a first rotating member, having a first inboard end and a first outboard end, and a second rotating member, having a second inboard end and a second outboard end; wherein
the mechanism is configured to stow and deploy the payload element by rotating the first and second rotating members by up to approximately 90 degrees;
the first rotating member is pivotally coupled, in a plane of rotation, proximate to the first outboard end, to a first pivot point of a connecting link and pivotally coupled, within the plane of rotation, proximate to the first inboard end, to the main body structure;
the second rotating member is pivotally coupled, in the plane of rotation, proximate to the second outboard end, to a second pivot point of the connecting link and pivotally coupled, within the plane of rotation, proximate to the second inboard end, to the main body structure;
the four-bar linkage defines a linkage axis, the linkage axis being a projected line within the plane of rotation, orthogonal to the connecting link and originating from a midpoint of the connecting link; and
the four-bar linkage is configured to rotate the payload element, after the payload element is deployed, about a virtual pivot point (VPP) substantially distant from the mechanism the VPP being a single point through which the linkage axis passes for any rotation angle of the first and second rotating member within a predetermined range, greater than zero, of rotation angles.
2. The spacecraft according to claim 1 , wherein the payload element is an antenna reflector and the mechanism is configured to locate the VPP proximate to at least one of a center of gravity and a focal point of the antenna reflector.
3. The spacecraft according to claim 1 , wherein
the four-bar linkage is configured to rotate the payload element about a first axis of rotation; and
the mechanism further comprises a rotary actuator configured to rotate the payload element about a second axis of rotation.
4. The spacecraft according to claim 3 , wherein the first axis of rotation is orthogonal to the second axis of rotation and intersects said second axis of rotation at a point proximate to the VPP.
5. The spacecraft according to claim 4 , wherein the first axis of rotation is substantially parallel to a pitch axis of the spacecraft and the second axis of rotation is substantially parallel to a roll axis of the spacecraft.
6. The spacecraft according to claim 1 , wherein the mechanism is located proximate to at least one of the main body structure and a supported edge of the payload element.
7. The spacecraft according to claim 1 , wherein the mechanism comprises an actuator for driving the four-bar linkage.
8. The spacecraft according to claim 7 , wherein the actuator is a linear actuator or a rotary actuator.
9. The spacecraft according to claim 1 , wherein the payload element is an RF feed illuminating an antenna reflector and the mechanism is configured to locate the VPP proximate to a focal point of the reflector.
10. A mechanism comprising a four-bar linkage configured to rotate a payload element about a virtual pivot point (VPP) substantially distant from the mechanism, said mechanism coupling the payload element to a structure, and comprising a four-bar linkage, the four-bar linkage comprising a first rotating member, having a first inboard end and a first outboard end, and a second rotating member, having a second inboard end and a second outboard end, wherein:
the mechanism is configured to stow and deploy the payload element by rotating the first and second rotating members by up to approximately 90 degrees;
the first rotating member is pivotally coupled, in a plane of rotation, proximate to the first outboard end, to a first pivot point of a connecting link and pivotally coupled, within the plane of rotation, proximate to the first inboard end, to the main body structure;
the second rotating member is pivotally coupled, in the plane of rotation, proximate to the second outboard end, to a second pivot point of the connecting link and pivotally coupled, within the plane of rotation, proximate to the second inboard end, to the main body structure;
the four-bar linkage defines a linkage axis, the linkage axis being a projected line within the plane of rotation, orthogonal to the connecting link and originating from a midpoint of the connecting link; and
the four-bar linkage is configured to rotate the payload element, after the payload element is deployed, about a virtual pivot point (VPP) substantially distant from the mechanism the VPP being a single point through which the linkage axis passes for any rotation angle of the first and second rotating member within a predetermined range, greater than zero, of rotation angles.
11. The mechanism according to claim 10 , wherein the payload element is an antenna reflector and the mechanism is configured to locate the VPP proximate to at least one of a center of gravity and a focal point of the antenna reflector.
12. The mechanism according to claim 10 , wherein
the four-bar linkage is configured to rotate the payload element about a first axis of rotation; and
the mechanism further comprises a rotary actuator configured to rotate the payload element about a second axis of rotation.
13. The mechanism according to claim 12 , wherein the first axis of rotation is orthogonal to the second axis of rotation and intersects said second axis of rotation at a point proximate to the VPP.
14. The mechanism according to claim 13 , wherein the structure comprises a vehicle having a pitch axis and a roll axis, the first axis of rotation is substantially parallel to the pitch axis of the vehicle, and the second axis of rotation is substantially parallel to the roll axis of the vehicle.
15. The mechanism according to claim 10 , wherein the mechanism is located proximate to at least one of the structure and a supported edge of the payload element.
16. The mechanism according to claim 10 , wherein the mechanism comprises an actuator for driving the four-bar linkage.
17. The mechanism according to claim 16 , wherein the actuator is a linear actuator or a rotary actuator.
18. The mechanism according to claim 10 , wherein the payload element is an RF feed illuminating an antenna reflector and the mechanism is configured to locate the VPP proximate to a focal point of the reflector.
19. A payload element, said payload element coupled to a structure by a mechanism and configured to be rotated, after the payload element is deployed, by the mechanism about a virtual pivot point (VPP) substantially distant from the mechanism, said mechanism comprising a four-bar linkage, the four-bar linkage comprising a first rotating member, having a first inboard end and a first outboard end, and a second rotating member, having a second inboard end and a second outboard end; wherein
the mechanism is configured to stow and deploy the payload element by rotating the first and second rotating members by up to approximately 90 degrees;
the first rotating member is pivotally coupled, in a plane of rotation, proximate to the first outboard end, to a first pivot point of a connecting link and pivotally coupled, within the plane of rotation, proximate to the first inboard end, to the main body structure;
the second rotating member is pivotally coupled, in the plane of rotation, proximate to the second outboard end, to a second pivot point of the connecting link and pivotally coupled, within the plane of rotation, proximate to the second inboard end, to the main body structure;
the four-bar linkage defines a linkage axis, the linkage axis being a projected line within the plane of rotation, orthogonal to the connecting link and originating from a midpoint of the connecting link; and
the VPP is a single point through which the linkage axis passes for any rotation angle of the first and second rotating member within a predetermined range, greater than zero, of rotation angles.
20. The payload element according to claim 19 , wherein the payload element is an antenna reflector and the mechanism is configured to locate the VPP proximate to at least one of a center of gravity and a focal point of the antenna reflector.
21. The payload element according to claim 19 , wherein
the four-bar linkage is configured to rotate the payload element about a first axis of rotation; and
the mechanism further comprises a rotary actuator configured to rotate the payload element about a second axis of rotation.
22. The payload element according to claim 21 , wherein the first axis of rotation is orthogonal to the second axis of rotation and intersects said second axis of rotation at a point proximate to the VPP.
23. The payload element according to claim 22 , wherein the structure comprises a vehicle having a pitch axis and a roll axis, the first axis of rotation is substantially parallel to the pitch axis of the vehicle, and the second axis of rotation is substantially parallel to the roll axis of the vehicle.
24. The payload element according to claim 19 , wherein the mechanism is located proximate to at least one of the main body structure and a supported edge of the payload element.
25. The payload element according to claim 19 , wherein the mechanism comprises an actuator for driving the four-bar linkage.
26. The payload element according to claim 25 , wherein the actuator is a linear actuator or a rotary actuator.
27. The payload element according to claim 19 , wherein the payload element is an RF feed illuminating an antenna reflector and the mechanism is configured to locate the VPP proximate to a focal point of the reflector.