Single-axis drive system and method

Abstract

A system for moving an object in one axis that creates highly dispersed but precisely controlled mechanical force to support, manipulate, and maintain an object, tool or application in precise alignment or orientation with respect to a stationary or moving target is disclosed. The system includes one or more fluid containers within a cylindrical enclosure or drum, and a shaft running through longitudinal axis of the drum. The shaft is coupled to the drum by rotating assemblies so that the drum may rotate around the shaft or the draft may rotate inside the drum. The fluid inflatable containers are arranged in a inside the drum around the shaft so that each container exerts expansive force between a vane fixed to the drum and a vane fixed to the shaft. A volume of the fluid may be placed in the one or more fluid containers by control systems. By changing the volume of fluid in the one or more containers, forces are exerted on the vanes and the object is moved.

1 . A system for moving an object in one axis relative to a reference, comprising:
 an enclosure having an inside and an outside, wherein the enclosure is operatively connected to the reference;   one or more vanes fixed to the enclosure;   one or more vanes operatively connected to the reference;   a first fluid inflatable container located inside the enclosure such that pressurizing the first fluid inflatable container exerts a force upon at least one of the one or more vanes fixed to the enclosure and at least one of the one or more vanes connected to the reference;   one or more control valves, operatively connected to the first fluid inflatable container, to assist in pressurizing and de-pressurizing the first fluid inflatable container;   a source of compressed fluid connected operatively to the one or more control valves for pressurizing the first fluid inflatable container;   an electronic pressure sensor connected to the first fluid inflatable container;   electronic actuators for the one or more control valves for pressurizing and de-pressurizing the first fluid inflatable container;   electronic level sensors or rotational position encoders for determining a position of the object; and   a computer that controls the motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic level sensors or rotational position encoders;   wherein the system for moving an object in one axis is able to move the object relative to the reference by systematic pressurization and depressurization of the first fluid inflatable container.   
     
     
         2 . The system of  claim 1 , further comprising:
 a connector for connecting the object to the enclosure.   
     
     
         3 . The system of  claim 1 , further comprising:
 a connector for connecting the object to the reference.   
     
     
         4 . The system of  claim 3 , further comprising:
 a central support structure operatively fixed to the bottom side of the enclosure.   
     
     
         5 . The system of  claim 1 , further comprising:
 a second fluid inflatable container operatively connected to one or more control valves, wherein the second fluid inflatable container is pressurized by the compressed fluid; and   wherein the forces imposed by pressurizing the first fluid inflatable container against the vanes are opposed by the compressive forces imposed by the second fluid inflatable container.   
     
     
         6 . A system for moving an object in one axis relative to a reference, comprising:
 a connector for the object;   a drum operatively connected to the reference, wherein the drum has an inner wall, pivot axis and an outer surface;   wherein the reference is a shaft, having an outer surface, positioned axially through the pivot axis of the drum;   one or more rotating assemblies supporting the shaft such that the shaft may turn within the drum;   one or more vanes fixed to the shaft, running longitudinally along the shaft and extending radially to the inner wall of the drum;   one or more vanes fixed to the drum, running longitudinally along the inner wall of the drum and extending radially to the outer surface of the shaft;   a first fluid inflatable container placed inside the drum between one of the one or more vanes fixed to the drum and one of the one or more vanes fixed to the shaft such that expansion of the first fluid inflatable container exerts force simultaneously upon the vane fixed to the drum and the vane fixed to the shaft;   one or more control valves, operatively connected to the first fluid inflatable container, to assist in pressurizing and de-pressurizing the first fluid inflatable container; and   a source of compressed fluid connected operatively to the one or more control valves for pressurizing the first fluid inflatable container;   an electronic pressure sensor connected to the first fluid inflatable container;   electronic actuators for the one or more control valves for pressurizing and de-pressurizing the first fluid inflatable container;   electronic level sensors or rotational position encoders for determining a position of the object; and   a computer that controls the motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic level sensors or rotational position encoders;   wherein the system for moving an object in one axis is able to orient the object through a variety of positions by systematic pressurization and depressurization of the first fluid inflatable container.   
     
     
         7 . The system of  claim 6 , further comprising:
 a second fluid inflatable container operatively connected to one or more control valves, wherein the second fluid inflatable container is pressurized by the compressed fluid; and   wherein the forces imposed by pressurizing the first fluid inflatable container against the vanes are opposed by the compressive forces imposed by the second fluid inflatable container.   
     
     
         8 . The system of  claim 6 , wherein the drum is operatively connected to the connector. 
     
     
         9 . The system of  claim 6 , wherein the connector is operatively connected to the shaft. 
     
     
         10 . A system for moving an object in one axis relative to a reference, comprising:
 a connector for the object;   a drum operatively connected to the reference, wherein the drum has an inner wall, pivot axis and an outer surface;   wherein the reference is a shaft having an outer surface positioned axially through the pivot axis of the drum;   one or more rotating assemblies supporting the shaft such that the shaft may turn within the drum;   one or more vanes fixed to the shaft, running longitudinally along the shaft and extending radially to the inner wall of the drum;   one or more vanes fixed to the drum, running longitudinally along the inner wall of the drum and extending radially to the outer surface of the shaft;   a first fluid inflatable container placed inside the drum between one of the one or more vanes fixed to the drum and one of the one or more vanes fixed to the shaft such that expansion of the first fluid inflatable container exerts force simultaneously upon the vane fixed to the drum and the vane fixed to the shaft;   one or more control valves, operatively connected to the first fluid inflatable container, to assist in pressurizing and de-pressurizing the first fluid inflatable container; and   a source of compressed fluid connected operatively to the one or more control valves for pressurizing the first fluid inflatable container;   wherein the system for moving an object in one axis is able to orient the object through a variety of positions by systematic pressurization and depressurization of the first fluid inflatable container; and   wherein the rotating assemblies include three or more casters mounted directly or indirectly on the drum for supporting the reference and allowing the reference to freely rotate within the drum.   
     
     
         11 . The system of  claim 6 , further comprising:
 a shock absorbing device for preventing damage to system components; and   a locking device including a drift pin.   
     
     
         12 . The system of  claim 6 , further comprising at least two drums. 
     
     
         13 . (canceled) 
     
     
         14 . The system of  claim 6 , further comprising:
 one or more torsion springs configured to resist the movement of the object from a neutral position.   
     
     
         15 . The system of  claim 10 , wherein each caster is adjustable for creating a tolerance between the caster and the shaft and each caster is mounted to a rotating assembly with one or more bolts. 
     
     
         16 . (canceled) 
     
     
         17 . The system of  claim 6 , further comprising:
 a positioning system, wherein the source of compressed fluid is a compressor mounted on the positioning system.   
     
     
         18 . (canceled) 
     
     
         19 . The system of  claim 6 , further comprising:
 a positioning system, wherein the source of compressed fluid is a compressor mounted on the positioning system; and   a photovoltaic power source that powers the electronic pressure sensor, the electronic level sensors, the compressor, the one or more control valves, and the computer.   
     
     
         20 . The system of  claim 6 , further comprising:
 a positioning system, wherein the source of compressed fluid is a compressor mounted on the positioning system; and   a photovoltaic power source to power the electronic pressure sensor, the electronic level sensors, the compressor, the one or more control valves, and the computer, wherein the computer comprises wireless communication capabilities and regularly transmits a status of the first fluid inflatable container and outputs values of the electronic pressure sensor, the electronic actuators, the electronic level sensors, and the photovoltaic power source to an external control system.   
     
     
         21 - 26 . (canceled)