1. THE PRESENT INVENTION RELATES GENERALLY TO STABILIZED MOUNTS FOR CAMERAS AND MORE PARTICULARLY TO A THREE AXIS, FLEXURE SUPPORTED GIMBAL

• Document Type: CREST
• Collection: General CIA Records
• Document Number (FOIA) /ESDN (CREST): CIA-RDP89B00487R000400710002-2
• Release Decision: RIFPUB
• Original Classification: K
• Document Page Count: 50
• Document Creation Date: December 22, 2016
• Document Release Date: June 18, 2012
• Sequence Number: 2
• Content Type: MISC

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57-ac- 693200
The present invention relates generally to stabilized
mounts for cameras and more particularly to a three axis, flex-
ure supported gimbal.
When a camera is mounted and operated in a moving
s vehiclej the camera is normally subjected to all the motions
experienced by the vehicle. A photograph of a stationary object
taken by the camera would reflect all of these motions in the
picture. The resultant effect, of course, "uld be blurring of
the picture due to relative motion between the camera and the
10 stationary object or scene being photographed. Aerial cameras
mounted in aircraft, for example, are often employed to photo-
graph the terrain over which the aircraft flies. For each par-
ticular picture, the film in the camera is usually moved in the
direction of flight at a rate which minimizes image motion on the
15 film due to forward motion of the aircraft. This is conventional
image motion compensation. However, blurring of the picture
may still occur because of gyrations of the aircraft mounting
the camera which introduces other, uncompensated relative
motions. Of course, there is always the effect of vibration and
20 other oscillatory motions on the camera.
Stabilized platforms or steady mounts are provided to
isolate the camera, for example. from disturbing aircraft motions
particularly when an exposure is made. Such mounts are also
employed to rotate the camera about- a pitch. axis at a constant
25 rate to compensate for image motion due to the forward velocity
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of the.. aircraft, when an exposure is made. These platforms or.
mounts are supported on a. suitable gimbal system having usually
three degrees.. of. freedom so. that a camera mounted on it can be
rotated aboutaa pitch axis, roll axis and yaw axis. The camera
to moved by, toeguers (torque motors) which are responsive to
motion detecting means which sense motion about any of the three
axes. The conventional gimbal rings mounted on bearings intro-'
-dues a. good deal of friction such that system response can be
spotty and faulty. . .
as is an object of th
low. friction torque gimbal.
Another object of the invention is to provide a novel three
.,axis. flexure supported gimbal.
qc l gimbal capable of supporting heavy loads without introducing
OV
frictional resistance.
A further object of this invention is to provide a three
axis,. flexure supported gimbal having a wide range of motion
about any 'axis.
20 Briefly, the foregoing and other objects are preferably
accomplished by providing an upper, cylindrical ring- shaped body
having two di, etrically dependent side flanges which fit into an
upper'. channel, cut diametrically acroes a cylindrical middle body&
each sides flange being supported on a pair of crossed flexures
25 connecting with the middle body. The middle body has a lower
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s invention to provide an extremely
i
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57.20
channel cut diametrically at right angles to the upper channel,
the top part of the lower channel intersecting with the bottom
part of the upper channel to form an axial center opening through
the middle body. A channel shaped lower body having an upright
center pillar fits in the lower channel of the middle body such that
the pillar extends upwards through the axial center opening of the
middle body. The middle body is supported on two sets of flex.
urea, each 'set of crossed flexures respectively connecting the
ends of the channel shaped lower body to the middle body at the
10 ends of the lower channel thereof. A center support column
structure, which is a channel shaped bar. is positioned parallel
to the upright centerpillar of the lower body and extends up through
the middle body's axial center opening and through the upper, ring-
shaped body. The center support column structure is connected
15 to the upright pillar of the lower body through two sets of crossed
flexures.
The top of the center support column structure can be
fastened to aircraft structure, for example, and a camera can be
adapted to be mounted and secured to the upper body such that the
20. intersection of the planes of the first set of crossed flexures define
a pitch axis, the second set a roll axis and the third set a yaw axis.
Each pair of crossed flexures can, be thin metal strips which are
mounted near together with the planes of the flexures being per-
pendicular to each other. The flexures can be of uniform thick-
25 aess, have a tapered cross section or otherwise varied to secure
desiroble or suitable characteristics.
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This, inventis possesses numerous other abjects and
features, sons of which together with the foregoing, %ill be set
forth in the following descripti of at preferred embodiment of
t invention, and tbp invention wilt be more fully understood
by reference to the attached drags, in which
Figure I Is a. side view of a camera being Supported an
a stabilized. m,onut of preferred constrtaction$
tigulre 2 is arear view of the Supported camera of Figure 1;
lfigure Za is a drawing illustrating a push-pull linear Sole-
Figure 3 is a side view of the camera stabilized mount
structure showing torquer solenoids c+ ected to a three axis,
flexure supported gimbal;
'igufares 3a, 3b, 3c and 34 are detail drawings of a bracket
which is attached to,an upper yoke of the fnount;
Figure 4 is an end view of the mount;
figs 4* and 4b are detail drawings of the upper yoke;
Figure 5 is a top plan view of the mount;
Figures 5a and Sb are detail views of an adapter plate;
Figure 6 to a bottom view of the mount;
Figures ba and 6b are detail view's of a lower? yoke;
.Figure 6c is an elevations l view bS a bracket arm;
113 7 is a rt i Sectional view =rich illustrates the
counectioar between c&= Ora structure to airframe through the
Z flezur+e gimbal
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I figures 7a, lb and Tc are detail views of a trunnion member
wblch ce rnaects a eyliaArical viag member supporting the cassnera
to the 91"urS gimbal;
tlgures 1d. is and if are detail views of the cyiiudridcal
ring member;
Figures 7g. lb, 7i and I j are detail views of a ball joint
structure;
?igurte & is a perspective of a three leis. flwLure supported
gimbal;
10 Figure 9 is an *ad elevation view of the flexure gimbal;
Figure 10 is a bottom view of the flexure gimbal;
Irigut*? 11 is a aide elevation view of the fle zure gimbal;
''lgure 1 Z is a sectional view taken along the line I Z? I Z in
Figure 11;
1- Figure I9 is a top plan view of the flexure gimbal;
i uree 14 and 13 are sectional, views taken .Bong the lines
14-14 and 1$-13, respectively, in Figure 13.
Figure 16 is a front view of a. captivator, Looking at the
back of the camera;
0 Figure 17 is a perspective shoo lug the U-1rame structure
of the captivator;
Figures 17a. 17b and I7c are fragmentary, enlarged views
illustrating detail captivator structure;
Figure 13 is a back view of the captivator actuator which
is drives a pal of captivator sliders to cage and uncap the camera;
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"iSure 19 is a circuit diagram of the captivator drive motor
and clutch;
! iguro 20 is a perspective of a shock absorber pin;
Figures 2Oa, 2Ob and 21 are detail drawings of the shock
absorber;
Figures 22 and 23 are draw-Inge illustrating an autobalance
ssenably for the camera stabilized vao nst;
Figures M, 23b and 23c are detail views of the autobalance
weight;
10 Figure 24 is a functional servo block diagram for single
axis stabilization;
Figure 25 is a block diagram illustrating a gyro loop used,
in the camera stabilized mount;
Figure 26 is a block. diagram of the pitch axis serve channel-,
Figure 27 is as detailed wiring diagram of a preamplifier
used in a servo channel;
Figure 28 is a detailed wiring. diagram of a' torquer amplifier
used in a servo channel;
Figure 29 is a detailed wiring diagr an of a half section of
a full wave magnetic amplifier; and
Figure 30 is a wiring diagram generally illustrating the
control circuitry.: for the camera stabilised mount.
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.10
"`its is 1 and ? sim$lif1ed drawings which illustrate
a general arrangement in which a camera 10 can be nnountsd on
a preferred embodiment of the invention. The camera 10 is shown
only in oaatltne form for clarity of. illustration s the camera 10
in this ? inst**Ce to depicted as being mounted in an aircraft, for
example. F1 . gnre I it a. tide view of the camera mounted so that
the forward and of the aircraft to to the left, as indicated by
arrow 12 and the view shown In figure 2 is that l bing.tcrward
from behindtbe c ora,1O. The camera 10 to a conventional
aerial camera for taking pictures of t ter.raio'over which the
aircraft Elise. The tics of the camera 10 are suitably "ranged
to look downward at the ground which is towards the bottom of
the sheet in the iglu ttratblons of Figures 1 and 2. The camera 10
is conventional but is structurally adapted to tit on the stabilized
is effectively ear traded from one wall to the other in the form of
a tube 14. 'fie tube 14 passes transversely through the body of
the camera 10 through a tunnel formed by a larger tube 24, con-
centric with tube 14 aand' which is integrally a pert of the camera 10.
The camera 10 literally surrounds the tube 14, in this instance.
-6_
mount.
A tube 14 is mounted transversely in the aircraft between
a left wall flange 16 and a right wall flange 18. Both earls of the
tube 14 are each terminated in a pair of parallel ears 20a and M.
between which the flanges 16 and 19 extend and are each sec+ared
2 thereto by bolts 22a and .92b (Figure 2). Thus, aircraft structure
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The iaer tube 14 has two dependant flanges 26 and 28
(Figure 2) which are raliel.-to each other and lie in planes
that intersect the wall of the Inner tube 14 at right angles. Each
flange 26 or 38 is equidistantly spaced on opposite sides near
the xniddle of the length 'of tube 14, and have two holes in each
through which two bolts 30 can be passed parallel to the axis
of tube 14. Tese bolts 30 attach and secure a -tall joint'
structure 39-having flari lower sides 3-'a, to the inner tube 14
which is effectively aircraft structure. The larger, outer tube
10. 24 has a lower central cutout '34 which permits the ball joint
structure 32 to reach the inner tube 14, and the outer tube 24
is attached and secured to a cylindrical ring r emeaber 36 by four
bolts 38 which pass through boles in tab flanges 40 of the cylin-
drical member 36. The cylindrical r-member 36 has two diarn-
1 etrically opposed end plates 42a and 42b which are affixed to the
cylindrical a ember 36, and each end plate has a circular cut
therein which mOunts trunnions of a cross ahapeed trunnion moan-
bar 44. The ends of the .trunnioaas are welded to the end plates at
the circular cuts. This trunnion member 44 is connected through
20 a three axis.*. flaxuro supported gimbal 46 to the ball joint struc-
ture 32. Thus, the camera 10 is supported by way of outer tube
24, cylindritAl member 36, trunnion member 44, flexure supported
gimbal 46, ball Joint structure 32. and, finally inner tube 14, which
is fixed aircraft structure.
25 The camera 10 is supported on flexures, ho ver, a safety
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10.
1s
joint structure 32. In normal operation, these two surfaces have
a nominal clearance of 0. 0210 inch, for ex .x -eple. and there is
ball joint type support is provided by the lower edge of the
cylindrical member 36 and the conically eloping side of ball
joint structure 32. In the event of flexure failure. the camera 10
is effectively supported by the lower edge of cylindrical member
36 resting against the lower flaring conical sides 32a of bail
no contact between adjacent surfaces, and outer tube 24 is hold
c:oneentris with the inner tube 14.
A three exist flexure supported gimbal to provided on
which a camera can be mounted and be oriented in any direction.
he camera 10 tan be moved about any of three axes by torquer
solenoids which 'are mounted between gimbal rings so that each
solenoid torques only about the axis which it is mounted. A
pitch solenoid 480' roll solenoid 50, and yaw solenoid 52 are
mounted between gimbal rings generally as shown in Figures 1
and 2. The torquer solenoids are preferably two coil, linear
solenoids that can either' push or pull, depending upon which
coil is energized. It to in effect two eolc.noids set back to back,
and the core of a solenoid is tapered to give a nearly linear dis-
Placement characteristic. (tail bushings for linear motion are
used to support the core in order to minimize friction. Tractive
force is nearly liar over a working stroke ~ 1 /4 inch from
center position.. `ig ire Zaa shown the construction of a push-pull
23 solenoid. A satisfactory and preferred two coil, push-pull leakag
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flux solenoid, type PL.20 T..{$,. is coa=..A-rctialiy available and
as anufact .red by aeriean Solsaaid Corn: y, P. U. box 65885.
ae Angeles 65. Cailfor.Dia.
Torquing . Snoz eate wbiah can be pry rdcaced by the solenoids
in the mount; for example. arot r'otl- ? l 1b. -ft. , yaw--I lb. -ft.,
and pitch-4 -1/2 1b. -ft. 'T'his ar~unt will isolate the camera ffronn
disturbing airframe rates up $o' 20 milliradiane per second. Normal
.operating angular velocities about the three axes are: roll--Q * 0.3
mifllaradixan per. `atecta?d. Ya' ""d 0.3 m lhiradiaan per second, and
lb pitch--8 to X1'6 ~r 0.3 lllradia$ per second. These figures apply
to a stabitissd mouuet" in ding camera h avini a weight of approa-
inaately 550 The. , ariproaimately
0 pounds of which are stabilizer
-components, and moment of inertia about the three ee an follo are:
roll_40 ei> .f.' Yaw--1O ohm ft.?,. and, pitch-m2 eluiy ft.2.
l The .point 01 suspension of caaara.Cra xa aaaee by the flexure gim-
bal is located, for maple, at 0. 010 inch above the center of
gravity. The camera mass as denoted here includes other major
components at the G era stabilized mount such as a gyro assem-
bly 54, autobalabee aesmbly. 56. and servo amplifier assembly 58
20 together with power supply. A Captivator 60 or cager device is
major cot which does not add to the camera mass since
it is supported purely. by airesaaft structure. The gyro aOsembty a4
is a conventional assembly including three aingie axis rate gyros 62
which are tod nut+ ily perpendicular to each other and sense
25 angular motibo respectively about the three axes of the ca sera
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stsbil iaod mount. Reeves hermetic integrating gyros, type BIG- S.
for example can be satisfactorily used in this ffippliicatiaa. A
tempsrat%sre .controller for the gyros, gyro spin motor power
supply and gyro signal generator power supply are included to
the gyro assembly 54 and are also all conventional items.
autobslauca assembly 56 (FiSure 1) is used to compen-
sate for lea im the static balance of the camera caused by traas?
port of film from the camera. supply reel onto the tank sup real. The
a -baiance assembly 56 includes a long tube 64 located long the
10 length of the camera on one side, containing a movable .weight
that to actuated by a system of
alleys and a 4. c. motor 66. Goan
mands to shift the weight are derived from a stabilized mount servo
circuit where error signals due to static unbalance are detected.
The autobelance drive motor 66 Is, for example, a 28 volt d. c.
l pe aaneatma Soot type motor that is reversible by switching
polarity of the brushes. Limit switches are conventionally pro-
'vided at both ends o4 the tube 64 to cut off the drive motor 66 if
a condition exists whore the weight is driven to an end of the
tube 64. Manual operation can be accomplished by two auxiliary
20 switches 68 located at one and of the tube 64.
Static unbalance of the caar era causes it to drift In the
direction of unbalance. Thus. a steady agitate error signal to
present whenever the camera becomes unbalanced. This Staab l?
i atton error is detected by the gyro sensors 62 and amplified
as by a servo aemmplifier. The aueaplifteed signal actuates a control
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relay which eve rgiseee the autobalance drive motor 66 to move
a slug so as to compensate for unbalance of the camera. The
weight of the slug is, for enampte, 3.75 lbs. and the compensa-
tion rate can be 0.67 in. -lb. /seer. Covapeneation m% wt taatee place
only during the steady state portions ref the stabilizing cycle; as
transient rate caused by motion of the adrfa: arrae at the time of
uncaging, unequal reaction of captivator pins, and switching to
image rnotUn Compensation, must not be used since they are
not caused by the- static unbalance of the camera.
111 The camera etabiliaae4 mount servo generally comprises
three velocity servo channels; pitch, mall and yaw. Each channel
to subetantisslty independent electrically of tb. other two and
each Channel includes a rate gyro, gyro preamplifier, torquer
amplifier, power amplifier and push-pull solenoid. These
l amplifiers are loocated manly in ccentainar 70, and various Cl.ec-
tw icai inte ar aaectian are made in junction bo* 7Z (1r i ure 1).
Two smaller. containers 74 and 76 respectively contain a film
drive servo and oblique servo.. These servos are all mounted
on one side of the camera 10 below the autobalance tube 64.
The captivator 60 or caging device includes a ti-shaped
frame 78 which cradles. the camera I J between two bracketing
arms that are coenee ted by a cemrx on cross. member positioned
to the rear of the camera 10. The ends of the two braac1eting
arms each terra inato in. the form of a yoke which embraces the
25 outer end of the inner tube 14 and area secured to the inner tube
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.by bolts 80a sad 80b which ppss. through respective yokes and
tube 14. The carnors a the V-shaped frame member are sup-
portent by usta -le airframe attachment links 8Za and 8Zb
(7isure 2) which are arranged .to provide spelt-sitiignin8 support
for the V-ssh&ped frame .me briar TO in spite of slight temper-.
azure expansion or contraction of the frame member, or the
like. Thus, the V-shaped frame is supported purely by air-
frame strtia tttre.
The csptiw for 60 also includes a: 400 c. p. s. 3 phas
10 motor 84 which is used to drive a magnetic hysteresis clutch
which, in tam drivos a crank through an output shaft (all not
shown her*) to operate a set of sliders 36a and 86b, uuca g
.. the camera 10. The sliders 86e ands 6b engage with a stet of
corresponding phi "a and 88b which area mounted on shock
E absorber so, w was each side of the camera 10. The shock ab-
sorber pins ' 84aa and 88b are respectively engaged by the capti-
vater nlideri- 864t and 86b when the camera is caged. The output
shalt which drives the sea" that operates the set of sliders 86a
86b is spring loaded through suitable Searing by a heavy coil
20 spring in ts*o 90. TbiO spring drives the sliders 86a and 66b
together, "Sing the camera 10, whenever the a aagnetic clutch
is do-energised-or in the event ?of power failure to the 3.. phase
motor 84 which normally runs continuously. When the magnetic
clutch is ousrgtied, th. crank is rotated against the load of the
IS. heavy coil spring until a mechanical limit stop is contacted, and
-1Z . -
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the clutch then $1ip9 until the sod of tha t ncage part of the cycle.
achy slider. is preferably an aiua inum cast g that sli a c
nylon bushings on a pair of parallel 518 ch diameter steel
shafts. Nylon snubbers are used on the at faces of the slider
contactiaag ptne d" and d$b to mini nixe sla-ack load and wear.
', eprins loaded decent (not shown here) ie also provided so
..that the crank when manually turned to it extreme uhncage
position, can be locked in this position by p easia g the sprin
loaded detest in to engage. an end of a half oegmenatt gear which
10 is affixed to and drives the output sh ft, T he force due to the
heavy coil spring transmitted through the h?.nif segment gear
against the.doteat, holds the detect In position. The captivator
60 serves t6 recenter the camera 10 after an posure cycle,
for example, and it locks the casneran 10 the airframe when
stabilization 4.e Act iei process. The captivator 60 will be further
scribed later.
A. normal'sequ a of. operation i generally that as the
aircraft flies over terrain where it ie. desired to photograph aez,
area later along its flight path. film is far properly drawn in
20 the camera 10 and it is then uncaged by energizing the magnetic
hystore.sts clutch which, operates the creak. and sliders d the
captivator 60* permitting tore ca neraa 10 to rotate freely in all
three axes 'bout a point. swiss stabtll.-&ed, the camera 10 would
move ua-iforinly.at the same angular velocities possessed by the
a5 airframe at the Instant of uncaging (laws of zractiion), to which
-13-
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camera was caged. Upon t gaging, &-'Walrar over -eAt Of
10.
the c . era is stopped during a .etaebilt -.Lti?O :bnterval is which
a viscous type of damps is provided t cs vrzrdar p the Camara 10
.yaut each axis. Overdamping c~,,-usos =. Z alas motion to cease
~ ~ sm i8airx; ti The camera 1 r is with respect to
.,gyro z ferenceis, eaird the camera 10 is a wt influenced by aircraft
c tion. During the .~t bilt anion int rvv a.L.., it o ul zr motion about
the roll, pitch "4 yaw azea cease. This la acct i.plislaed. by
three velocity type eerves, oeDet.for each a:v;dfi as vias described
ier. ach. servo c nel.tnciudes a late gyro which senses
aa4aabitt atioa i!Iteerval. and during later n3U ? e motion co rypenoaa-
tiara interval. The rate gyro output. ,npttficatioa, is fed
to its charnel torquer sotenotd.nvhich e e jai torque opposing the
ca '.era nation. M tion. caan 1Qe controlled, within the resolution
aaa sal r m Won about it er corresponding ca a;aa ra axis during th
of the gyro which is about 1/3 .filiradiasa per second, for example'.
d n ed with respect to inertial apace. it is smut influenced by
BY Opposing angular notion with a torq c, proportional to angular
velocity. a viscous type of d*xping is achieved. Since the cameras
Movement 6f the aArIrP.M*.
T t the. same ttr:ie that car k a=s ,aUz n about all three axes
is being stopped, the, autobalaance a .4eC ka.~a i n.-x 56 is also put into
operattorl; during- the. stabilization interval ~:?se dcescribsd before.
her this iaterva:t, if :age Tiiotiot: c ssa .;a 1 ;..tiou (l. M. C. is
25 started by introducing a pitch angular rnov nrresn.t of the ca naera 10
?i4
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to ca aca tc .. $o the foirwatd mot .on of aircreft. while roll
lA : i0 ;1=00Ozale#0, the camera obvtter is t z1ated by a peals: appearing
. izag the btteavei. adz: shittea? c ?4 src~xx,, the camera I?) ca n
b c ptur .~d t d securely Ies. hed to the :., > hkr again by a r m
.pit,ric . thy Oame r4,10 rotates a. aut t per ~h a; ib at a fixed
rxaate Vv is x . be eet by. the pilot b. f. u w : d a ; -sting a suit-
IS t cycle of aperatiezt. This ate n .aete , . ;.~ ue gal .e sa r iption of
iL en o flee camera reoults
ca,y Cara any a#4 ia1. Y odty ,,9,w0.1 as zexu rate. ? ,i..,eAr11.Y4
?
thaw L M. . p+r ttad, while the a.go of tb,< to be photagr aphae i
zing th * magnetic cluteb of the cv ptiv t 6-5. Power is also
acted from t Camara etaabili. ed > nc w t servo until the
eierr,Od+ora ent and. * lic tiaa ' the izavantan'.
timer _ eta~dli ed:m e t to is_ ~ ,,n in structural detail
principally by .F u:r o 3, 4. So .6 a d T. `' ,itional supp rti
""V XT14111012 of the cam-era 1-0
angular
n the. pith. eervc cbal a a.
as"d ly caltb d otentiometer, for exam ,f cw
tails of those fides. ire Provided
a, d 7). The three, axis.. flea o aaaa a~rtc ; ,3:i a
During C.
to iatrod .co a rite
itch compensating
I
0 velocity type OW& VT
;;~xas 3a, 3b, 3c, 3d,
4f, a,,, i b, 5, , -- 7b, , ?b, .6c, a, ?L iii:, . ;"~.
, 79, 7, 7h, 7i
1 16 is ilustrra.ted
i detail by. '?mss .8, 9, 10, II. YU, 13, 1",: d 15. The pivot
IaOiat for the mount to txadicate4 in 13 i-nri c 3, 4, 5 and 6 by a
small circle having alternately ?akaded q A .4.r uta and is at the
otter of We ottcle.. ure 3 is a et; i o i side view of the
Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
I c era stabilized Mount which shows at the top a channel shaped
adapter plate 92 having two parallel upright walls 92a. A side
view of this radar Plato 92 can be seen in Figure 4 which shows
the walls 92a being curved to conform with the surface of inner
tube 14 and two holes 92b in each upright wall 92a near the ends
are provided to accept the two bolts 30 which secure the a4apter
plate 92 to the f angees 26 mud 28 of the inner tube 14 (see Figure
2}. The adapter plate 92 is.detaiied in Figures 5x and 5b,
is shown property installed In Figure S. The adapter plate 92
10 rests on the upper peripheral surfaces of ball joint structure 32
which. in turn, stands on the top a dgeee of the..t peer yoke of flexure
supported gimbal 46 as shown in the partially sectional view of
Figure 7. the ball joint structure 32 is, shown in detail by Fig-
ures 7g, 7h, 71 and 71. row hole
94 forming a square are pro-
l prided through this structure 32 and 'these bola 94 are arranged
to coincide with four holes 96 in adapter plate 92 as shown In-
Figure 5a. These bores 94 and 96. in turn, are aligned with
four threaded holes 9.3 located in the top edges of an upper body
100 of the flexure supported ,gimbal 46 (see the perspective of
20 Figure 8). 1'e long bolts 102 (Figure 5) are used to secure
the adapter plate 92 and ball joint structure 32 to the upper body 100.
The upper body 100 is supported and connected through two
sets of pitch axis flexttrees 104 to a middle body 106 of the giurxbal
46 and the middle body 106 Is. in turn, supported and cones d
25 by two sets of roll axis flexures 100 to a lower body I 10. The
Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
lower body 110 has. a. raised center core section which is connected
to a center support column structures through two sets of yaw axis
flexures that hold the center support cola structure parallel
with the lower tidy core sscdi u. ach act of flexures comprises
two thin metal strips mounted side by side and crossed so that the
planes of the two strips would intersect at 90 degrees if the strips
were widened and extended into each other. strip to term. ixtateed
in cubes at each end which can be integral with the metal strip.
The strips can be other than metal, of course, and do not have to
10 be integral With the end cubes,, but can be suitably secured to them.
This forms a pivot with negligible friction and a very small amount
of spring complianisee. The pitch and roil axis flea ures are .016
inclw thick, 7 / 16. inch wide and 1/2 inch long. The yaw axis flexures
are the same width and length but have a tapering lengthwise cross
1 section of . 014 inch minimum thickness. The lengthwise cross
sectional edges are elliptical and are . 060 inch thick where they
join with the end cubes. The top of the center support column
structure heat three threaded holes, triangularly spaced to coin-
aide with three holes 112 bored in the center of the trueniou mean-
2.0 beer 44 as shown in Figure 7b. Figures 7a, 7b and 7c fully illus-
trate the trunnion member 44. The ill joiaat structure 3Z has
three larger holes '114 (Figure.?i), triangularly spaced, to per-
zit passage and installation of three bolts 116 (Figure 5) which
secur? the trunnion member 44 to the center support column
26 structure as shown in Figure 1.
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
The cyliadrical ring number 36 to which the end plates
and 4Zb (Figures 3 and 4). are Tice , is shown in deetaii by
Figures 7d;' To sad 7f. S lace the and plates 42a and 42b are
respectively Welded to the ends of the. two trunnions of th
trunnion member 44S, and the .cylindrla? 1 # a eair.bor 36 is
fastened by-holas 3B (riWe Z) through tab flanges 40 to the
outer tube 24, wh his lategral with the camera 10, the camera
10. to thus supported as the three auto, flexure supported gim.
bat 46 and a safety 'ball joint'' type eupp rt is provided by the
10 lower latter edge of eyrliadrical.ring wo ber 36 and the flaring
conical lower .aids of ball joint- structure 32 (Figure 7).
The rbraackats that support the torquer solenoids are
Mounted between Sbabal rings. so that each solenoid torques
only about the axis on which it is mounted. The pitch solenoid 48
1 is fastened ntly . to a bracket 116 which is, in turn, secured
to an upper yoke 1$0. The upper yoke 120 is illustrated in detail
by Figures 4a and 4b sad is attached to tho idle body 106 by
cap screw*, IZOs as show in Figures 30 4 and 6. The pitch
solenoid 4g .lo connected to an upper bracket arm 1 22 through
90 . a circular flern 124. The upper brackot arm l22 is fastened
to a lower side axe * 126 (Figures 7h and 7j) of structure 32 by
ewe 1264 as shown in ''igurwee 3 and 4. A differential trans-
former 128 to attached to bracket 110 a ; is connected to the
upper bracket arm 122 by circular flexure 128a. This instrument
as I2 is provided so that indication of augula_r displacement of the
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
camori 10 4Out the pitch axis c;uuL 4 ~x rs43,
y.. braclket ?110 which i8d:e CwUasd aj,; .. i6rt.res 3a ad 3Y is
Iso att :hed to tYe Upper yoke! '. lw~.:ru,t`sGa hz aw. Y ;t j ?+j de
lallzd iri h3gt res 3e and 3d is iocat.ed etc .e 130 and is
e;l,t_ached to. We lower yip, 132. ThIca+. ? yoke 132 is secured
to the Yc.weex. dy 110' by cap acre :,.z . nd i s hov u in
de li 'y Figures ba and 6b.. The Tail oF) . - ?Soic. 50 ie scored
:ie aa:ie xitty iro bracket 130... and is ccwaa :CCC to brac3?eat 43(
Uar e'aeeg dircular Liessure 134. Thus, roll :aoi .:ax id 50 is can -
1 aaec:ted bemeeen t lower body' 110 ;ody 1 06. The
yaw solenoid 52 is mounted later. it'b t ~ c ::L c i e 1 .? aie b is
f., .a
O..lso .i .tte z d ter the lover .yoke 1. $ is i3 .:iea.rly :noun ira fig-
ures 4. iD4.6. The yaw solenoid 52 by a circular
flex Ve 1.34- to a bracket arm 140.` - which it., -itt c'heil to i:i"i49 bottt3
C). the Center suppurt 'column. or 142 6). An eler v-
atiu al view of the bracket arm 140 is in ..Ti ure ( .
Ye
601cuoi4 52 is Ccixu t cteci the lower body 110
Bess tbae ce s teupport co rkerut+?er ; '. w4ich is sec:ared to
unniu* tnen ber 44 that duectively, '~t.aports than c:,azztera 10.
u 3ihov. clearly buw the
ai..oai , , a. e~ ~:w~l.ne tad&i tR eel
gin , a1 r iage, reffeerenca can be ri:,ado to : ar a , 9, 10, 11, i z,
14 &xad 13 which are de:talted jr-a iraL; ; P trxe 11exure supported
rz.e~ lz al tale perspective of . ig re . ii Wur ams the ~euersal
peaty me of a preeforrou exrabodirr..'ut c re rod 25J of ski der
8After the crankarffi Z60 to L;xE. tod f F e 6 ree a and ae e e s
-to? dead c r. the tat rat teen l . rlt is, c Course.
t .:Usmitted to sliders 86s and them outwards.
' , dm a'aaot*on' roleaeea to shock ah orba ,~.sa 88a and 83'b which
rn rated on each owe of c : err, 10 rra & c and 16), c'aa: Am
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
s sera: bea4
Tba.ssseesubly including
fawn in "'?'igure 1. is enlarged in 4"igk rea
i - *ctive of the shock absorber. An :acv
G the sbc k absorber in true prcporYiov
,k. ZOb aad Zi.' The $bock.absoarbc:ra
k>-:m d otheirWiee result. from brmp=lct of't'
c nta.ctin.g the pies 80a ' ax d 8b csa.c g#ca;
I .:ach eho .ia 'obsorber includes a ti h+sck a,
s Zvi vree1. mounted. In a houaift f, 87) es
10
Z0'.
( ``.i,gurea 21) .carried by the housing 270.
gresee bz ser con* at the Inner onci :ich
c.`' a epa . g .loaded plunger 274. The ply
ring 276 cucirclinl the stern
rd by , OP
i:.eni+dee a cylindrical retainer hou 27
.e left wad. of .ht-aer g, 270. The spring
cranters tae:.pin a#& "ter reltsase from
C;? smpinng !being provided by mechanical i
?:-:ad p1mi eer 274 ends.' A pliable 0-king
CI*unel W e ,gssoo vo on the inside rem'-1 f 'pi..
.h 88& ,ma*imuma defection
Eder of tba housing 270. Then aaG S;;
a' ';.asearbex Can be varied by ae;
ik,
F? ~e plu g r"274. This can be d o z e? r a,%
in or out ta`iatooreaase or decreo.su or.
g palunger 274. Spring' preserures a '~ } r1bbn;.
?an~ c;l d~z a 11x.
-,3r ia, such a.
i 2` Z,
., n g ,age J by. an, end
iou ;df w
?: ;: C p1eU e r 274
cY t:s threaded iatc)
gee 274 re-
:I ion of tbo On 68;v+;
et We s th(a PLEA L-8,.~
nzd e sae hiou.u the
Lsa zra e v it the
o the sl4c~ck
?rex?~a z~ta'e again t
"a the roti!inevar 2? 3
?6 l)reeau,re an the
labee"j if tb4O ?rec;-,TstG.ra
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
trans ~. a are not damped.oe.t q:. icb y t
anothe: operational. cycle) sobs. pr :.sc a,~re
the caa~ :.osa 1012 not sruootbtly *cv; la.ata
i uucag .;ag. and caging. r.epect vel?,r. - k. Can
. se,cur6.4 to the camera 10 ski,-.i by me ant.
;:::
aici i pa,&ssre+e through ..Ih. skin tbrea ink, wi '0 -',6
.At retaf:kies housing 278 can be Art,-A-Y 441 1z
revue Z;.,2b (Figure 20) tbrougb col. ar 2g
T e autc-balasac.c~ asetez biy ? .: to eba.
lt? 'igurce .22 and 23. The auto ale ace we
~taiied i,xa 'igeareo 23a, 23b as 23t.
'Ac
xrries v:te.?weight464 which is :: ct ?: to b a,,, t v. Tt ,Yi
syrstagn of, Pulleys. email tv", :.86. aw S L Y:k~ trP11 5, ..) FrY~S'i~ E. .tf
-At autos fiance tube 64 serves ac a c >nd ^ i4 IN M11 T.14 4S:w 4~5 ~' ..T
guide.. r;iil which fits in 'the grc-ave U t cb
9 v *tab t. 264. The cylindrical fie -ht Age
rough it, ps arslltal t the saii of the +awe. ltC :1 OA o r ; .,.
and si are s-lec: drilled pa all l t- tfr
As resp actively into the left d ri) t eat;
?e tact V.-rough holee 'l s We 2:.' d?. Sr Al
F ; c
kd 298 a drilled cfftazrse.trica-ll ih :xou; la t .. e:s ?
8 224. respectively, near the ioty tea t ', .. h 7 !
no are ai+ex6ed which epa the df ;a ear*
25 Al ,r be.~.ritngs 304 on aria pine wbi;:?1b t yas; ~.. z.?. ,a ._, 5,
Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
Cb _aaieied'slots 3OOa. 30O>a *v :! 3`1a,
 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
E rx"w ,., , ;
A b ices epr 3.10 bo ad .A )1e
UzAa
to a IA -in hel D 296 and the ,he sp:"^fR
::,t*r 66, iaeausd operation Saar.. be cc :wxa; = t . d,; ;a ti; } , _ , e
? ziliary. 1wftcbee 68 at the nigh ?- eta. oI tat. + ;?
6. The UPS 312 to meet tbretead t rt:agh.
the .sgth of tube 64 aMf th ea ,:a a:>4 k' l r '.
1 -light t+ , % are .pro d -at how: *XtCa to
ey 31 *M brought back to wb.itgb ZL:4 a tao r.:i its
..titer 6b< 14nit switcbs8..320* .od JWh.
ie 298 r? s of VII in n pre 21, A 4::: eo,ad. , < `k z; '?;
A ~?unetfo tal block. +S to ra'i 3 c a '5 re.~ r.5,,, G Sn t v?d ~~a.~., u4i. i .5 ?
,."Fro ~rtga,'~t: orttos?-ai tc- ', tk e
the gyro-a ut 60 sa to costrc ile .:. i~ *n
~.;_,:~alc~ ats of #- desisted at-gular. W4 (shish if
'Ch to 1 ing. -thee 1. lfwi.. C. iat f: rv ), **
Y30
:'. aetota ,t oca `tube 64 according to i 'to Arc ., ~
rough tbs Bled slota. by w:a,y c ti? si mot'
Se ;s , 3O s . . Ttae . w,1gkt t$4 rill,+
ad .i: aligned and, guided by ' : 11 f fr: tiu G"a m
(g`f, lua Rv.l ~.
41ch ae's over pulley 314
o t shaft of d. c. 'notpr? 66 a+ , the
4-- 4%o. pined lOOp to formed. for ftovlAg *v- c, a G w= c `,a > . 4 s & as
7is sta'bf Rice, to e8eowa is 'if:au 24-
::,1o to t-rnq.r of as three sew costs
.F `,out that ,~-*U, ; Pitch mr yaw a of
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
obtai c: i'rid azupltfflwd by. an F nip` ,fic ' ..;
;..pl$mmd. V aG voleacid producing ;nrq-,e
i'. the so4onoi4, The ed?s. ktio say th('
is refere.,c*d to the air frame, .i%d rig', ;
ct xdinf, to can era carnpliaACe ,(c' T a.
l t"
t~ m T , cct Obi d with the spry cog ' ,.iai.t to
spa: oei :'svtenotd torque T. t use.
e-, it y W.;
.out the iis'contrutte( is
V . ; 1aaQ, o r , id torque T. eze:+e tat t <
o st8 aft, uiar velocity ,'. at ?mt -he
`i';,e, single .ie rate gyre. 0 6 w Lc
es ca:_m.ra 10 are conv)eatial.a-1 ev: ?r:. ?j,....?r
? iirxaha1 :counting au eiec t rfcati j g . =we .
.'atlicuta ly to the Plane of the $.;iui 41 : Inf.
:d ei : '.aL geanerator., all heiti etic :41. of.
ately (V tecd with a niece aae fluit'.. ale 7,iv
epa Cti
rp4mdir.,.alar to-the spin axis of tb-* oe~
maturvf :~ Of the torque gendratr r. a. d 1 `:ae
diaxne:- ric$1y` oppoeiuug and ed: itte. wt ;`Ch .A~
Y each counted as'ae opf >'ei g
ge o' rate gyro applieati
At :
on 4
L Cigna! pe>< r r output is an :pli: ietd a w
aplifteec3 signal in used to drive the woa..l
naer, he torque devel6p.1. b the,, to 2, quir
-=nAl :t a 2 :? s a,ngslar displacemek..t o th' gi.
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
A. preferred gyra loots block diiag.; am to shown in Figure Z$.
Then the gyro senses angular motion, a precession torque to pro"
dhacced about the output antis wl$e h causes angular dieplaecement of
the signal generator armature off null position. to produce an out-
put signal. This output stmt is coupled by electrostatically
shielded fec lation transformer T1 to a high gain a. c. pro .plifier
Al and the amplified signal is demodulated by & demodulator which
is a transistor chopper producing ayntnchmosacus rectification -f
the pre ptifior Al output. The den sdulated i ai is amplified
10 by d. c. amplifier A comprising direct
uple'd push-pull class b
emitter followers. and. applied to the co .tzol field of the torque
oneraatcr. 'The torque Zeueraite-r pattern field is operated at a
awn current (7 ma.), and since the torque output of the torque
generator is proportional to the product of the pattern field and
control field currents, the applied control field current Is pro-
portional to. the rate input to the gyro. The resulting tongue pro-
duced by the torque generator is such to bring the gyro and signal
generator armature back Into null. The angular Waplacezueat of
the signal generator is kept very low because of the high loop gain
20 in the system.
Since the d. c. resistance of the torque generator Is
accurately known, the voltage across the torque generator (can-
trot field) is sampled for the rate output of the sensing gyro. The
current in the torque generator provides an accurate measure of
25 the angular rate U the loop gain is kept high. The rate output
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
sel,gnal is aaidita blyspp to a torquer' aolvn id to drive the caua era
is such a 4irectioa to Oppuae any to s ticu ae eed by the gyro. The
block diagram dei pidted circuit of Figure 26 (for the pitch chaaaaael)
illustrrattea0 i- preSerred manner is which thir3a is done. The cs -
va ati aaa l S yrru 61 is represent" raga .aatlcaaally? The servo
loop as ahem in ura* 25 can he a s in Yisure 26 an includes
itch gyro afliplai Ur 3:33, and part of Wrquer amplifier 52A. The
output aipartt (ream the pitch gyro amplifier 3iar passe thr ; h
ae conventfaimil t+e4 para11tit-T, low pans filt4 326 to madu-
10 . lafior 32S. An X. M. C. coMa , can ke provided to another
modulator 330 as indicated. The coa mad is simply in the form
of a d. c. vraalta . which is derived oil a as ? ua:.iiy ad .etahle and
calibrated pot tiometea*, connected across 90 volts 4. C., for
eza=ple. The meted outputs oi ms ator 328 and 330, which.
are convenSio"l chopper modv1ae.tore, are added and applLe,4 to
Para aa?a xp ;ii'i0 333 thrr h a gain control pot ntiou eter 334. The
par+aarasaaplifieat' 339 daeiVae two manoti : a. lit$etra 336a and 336b and the
a wagnetic a*plilierre 3364 and 336b each feeds one windiag of the pitch
control solenoid 48. ? Th see two wince ri oppose each other and if an
3t equal current flows in both w aga there U a force from the
solenoid. The agoot*c aaxnplif era 336a and 336? are convention ,t
of the . veve reset types sue to the reset type of action,
these mantic i x plif ere 336k d 3364 are Phase Sensitive &ad act
saes their own aiomodatatorra. The phasing of the pre plifier 332
Its output to the! ma ,a tic arpat pUf*erre 336a and 336b is such that one
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
~ . operate-'on one Ph" O and the other ,,M O'k opposite phase.
Thus, one as ietilsr s sa>plifiar 33 r riv se ta. s;a fa' spit and
tb s othar 336b drt ' the ' pulls' coil of t*iee .:+ ca 48. The
see 1'enoiei 4 drives Camera 10 in such a d.:a revs :ion as Z-0
Oppose any illation reeuee4 by the gyro 62.1
The roll and ynw channela Ore simi r except that, the
1. wi. C.. cOxwosa 1 signal is zero and, ccaav+ .early, do modulator
can be emitted. -tut the pitch chw=64 l t, a e s 'a,otion camper -
soption is accomplished by feeditn an ..'kd. C iRsAtagee into chopper
10 modulator 330 and adding this to the tut the Sta ,Hawing
chopper r o4talator 398. The saleeno d 4 .w U Ciiea drive the
e: Y 'a i ntil the ye'd -& output its equal s ~; OPTAGSitC to the
cs rr..4.A-Ila , s * which time therevill o n.;) sea :: i l to the p eamp tm
Lisa r 332* Thus, instead .ski nulling to ze:ro rata, the e ys3te, wtli
ntUl to a raft which pro ces a volts.Ge aqu ~ i f o .
tia> tttc:r to the bias net-work center JAc the base of
eplurt .the center of.the hiar t- _. k ._ i1; . ~?t.>. -,a . c. l t t
i 33 t err, itter, te, a. c. impedance. i.;. '',,a! is t S:Soc$~e: t d~ :
1 is _ ?~cse+ax~ by a factor a,ppr ci: atszly 0.. 1 s f~ ? to t;e ars
a : R;h ia:;~at tmpedsmcc to th fir,, tisae n? ra b
a. C. irpodasace in the emitter circt t 0 tr !4io;~~,? (: =, `
tlector ciiv t.of isic-luudes the f?rir ~ti c~m?.e?, tra.-a's..
fcrr sr '1*%whiclt is resonated by c.~ : fte = 3 'Au c ?? x
f a ~aency, Resistor 1I.19 loads the .:ast}us J e it r &&ding
1' 0 to .t vac the r,s ace. Abi -8x.';}pl .. or A,7 wavi"for m y'..or)-
aiderahiy vwhan the axa lffie*r is ~av*rdari-, , c *t s t d ry a;;
w from Occurring.
T"f a.outp :stage 13 a pw ki.pall e;?:t* ~3 :z ti a. cl- n:
tz- auaieto . s..., and 6.. The use of cl 0 f. a e we J1ac.es
diis.sslpaticwa 4n the transistors vwb,n ?41 =aup rc. ; ; hors.
..' aistors fZZ and R.16 form a bias [ tv,ori .i? 04::t . ,s4? . "11,al
p , cc* a -mall forward bias an t?.~r5 a ad . 6 t ~+.~:l a ? t 3~t rrW a?
$ ct avtr~xtie ~ aa$ thus larev%n~tas a. ssr 41 d d { ds'a u ~ rri a c~.
?36-
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
null. Resistors 38.20 end R21 Provide Mats. atab31. y and asarns
degenasratioD. The output of 05 and Q6 is powered from a
separate collector supply Identified - 30 V. and ~ 3O V. rc tarn
in order to secure good decouplfngl.
The-torquer amplifier 324 is shown in detail in F id are 28,
and includes a transistor chopper (Q1', '21, W!, and Q4') which
is used as a demodulator, a push-pull est fitter followex circuit
(0-13, 014, 015 and 016) for daring the to uo:r (torque gen-
orator) of the gyro b2, and =. andulataar traaan,gistor cbGppor (05',
10 0.6'. Q 7 and 08) after 'filtering by fitter 3 Z U. Aka additional
modulator transistor chopper (09, Q10', Q11 and Ca12) for con-
verting I. M. C. d. C. voltage to 40C C. P. S. is also provided for
the pitch nnel. The output of the 3. M. C. s nod laato r 3 30 is
added to the torque geterator rnodul.:?tor 32,: by means of a
l resistive addingnetwork (R?' and 11A.81) and fed to preamplifier
332. output 11 (tsrminalb 11 and 12) is used fQr the pit..-.'h channel
and output E (terminate 10 and 11" is used in the other two Chan-
nels. Thust transistors C2.9. 10. 011 and 0012, capacitor CS'
and resistors .7' and p.8' can be omitted frc;.m the torquer
24 a rnplifters for the roll and yaw channels.
Transistors Q1' aid Q2'. P-N-P types, for example, are
c eted back to back and comprise a single pole, single throw
switch. When the coil end having a dot is negative relative to
the ether end, the transistors 01' and Q2' are f'or a . d biassed
25 and the s-itch to closed. When the a. c. switching venltage is
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 Declassified and Approved For Release 2012/06/18: CIA-RDP89B00487R000400710002-2
reversed, both transistors 1' axed