Uncoupled actuation of pan-tilt wrists

Using algebraic properties of displacement (or rigid-body motion) subsets, the paper introduces new two-degree-of-freedom (2-DOF) nonoverconstrained orientation mechanisms. The angles of pan and tilt are also referred to as the angles of precession /spl psi/ and nutation /spl theta/, respectively, employing the standard terminology of Euler angles. A serial array of two revolute pairs provides the kinematic constraint of an end-effector. For instance, the first axis of rotation is fixed vertically, and the second axis rotates around the first axis, remaining parallel to the horizontal plane. Such a 2-DOF wrist is fit for orienting various devices like telescopes, cameras, antennas, etc. The first axis is fixed, and can be actuated by any powerful heavy servomotor. The paper discloses new mechanisms that allow the actuation of the second movable axis by a fixed servomotor. Moreover, the actuation of the movable axis is not a function of the pan /spl psi/. In other words, the pan and the tilt are controlled independently or in a fully uncoupled manner.