# US 10,246,201 B2 · Anti-twist joint, orienting system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,201 B2 - Document ID: US10246201B2 - Status: Granted - Kind: B2 - Application number: 14/805,064 - Filed: 2015-07-21 - Published: 2016-06-23 - Granted: 2019-04-02 - Earliest claimed: 2012-02-14 - Assignees: The Board of Trustees of the Leland Stanford Junior University - Applicants: The Board of Trustees of the Leland Stanford Junior University - Inventors: Andrew E. Kalman; Eli David Bashevkin; Joseph Patrick Kenahan; Brian T. Mahlstedt; Brian Thomas Manning - Web page: https://patentgrep.com/patent/US10246201B2 ## CPC - F16D 3/18: the coupling parts (1) having slidably-interengaging teeth - B64G 1/10: Artificial satellites; Systems of such satellites; Interplanetary vehicles (space shuttles B64G1/14) - B64G 1/443: {Photovoltaic cell arrays} - B64G 1/641: {Interstage or payload connectors (docking systems B64G1/646)} - F16D 3/10: Couplings with means for varying the angular relationship of two coaxial shafts during motion - F16M 11/105: {the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation} - F16M 11/18: with mechanism for moving the apparatus relatively to the stand - F16M 11/2064: {for tilting and panning (F16M11/2078 takes precedence)} - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - B64G: COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS ## Abstract A positioning system is provided for orienting a payload. The system may continuously orient the payload relative to another object without twisting connections of the payload. The positioning system may be provided with a base, a rotating member, a pivoting member, an anti-twist member, and a coupling apparatus. The rotating member may be rotatably mounted to the base such that the rotating member rotates about a first axis. The pivoting member may be pivotably mounted to the rotating member such that the pivoting member pivots about a second axis. The anti-twist member may be rotatably mounted to the pivoting member. The coupling apparatus may rotationally couple the anti-twist member to the base such that the rotational orientation of the anti-twist member relative to the base remains constant regardless of a rotational orientation or a pivoting orientation of the pivoting member relative to the base. ## Claims ### Claim 1 An anti-twist joint comprising: a base; a rotating member rotatably mounted to the base such that the rotating member rotates about a first axis; a pivoting member pivotably mounted to the rotating member such that the pivoting member pivots about a second axis; an anti-twist member rotatably mounted to the pivoting member; and a coupling apparatus that rotationally couples the anti-twist member to the base such that a rotational orientation of the anti-twist member relative to the base remains constant regardless of a rotational orientation or a pivoting orientation of the pivoting member relative to the base. ### Claim 2 (depends on 1) The anti-twist joint of claim 1, wherein the first and the second axes do not intersect. ### Claim 3 (depends on 1) The anti-twist joint of claim 1, wherein the coupling apparatus comprises a ball gear. ### Claim 4 (depends on 1) The anti-twist joint of claim 1, wherein the coupling apparatus comprises an elastomeric material to provide frictional engagement between mating surfaces of the anti-twist member and the base. ### Claim 5 (depends on 1) The anti-twist joint of claim 1, wherein the anti-twist joint is configured to allow the rotating member to continuously rotate about the first axis. ### Claim 6 (depends on 1) The anti-twist joint of claim 1, wherein the anti-twist joint is configured to allow the pivoting member to pivot about the second axis through an angle of 90 degrees. ### Claim 7 (depends on 1) The anti-twist joint of claim 1, wherein the anti-twist joint is configured to allow the pivoting member to pivot about the second axis through an angle of 180 degrees. ### Claim 8 A satellite comprising: a housing; an orientable payload; and an anti-twist joint coupled between the orientable payload and the housing, wherein the anti-twist joint further comprises: a base rigidly coupled to the housing; a rotating member rotatably mounted to the base such that the rotating member rotates about a first axis; a pivoting member pivotably mounted to the rotating member such that the pivoting member pivots about a second axis; an anti-twist member rotatably mounted to the pivoting member and rigidly coupled to the orientable payload; and a coupling apparatus that rotationally couples the anti-twist member and the orientable payload to the base such that a rotational orientation of the anti-twist member and the orientable payload relative to the base and the satellite housing remains constant regardless of a rotational orientation or a pivoting orientation of the pivoting member relative to the base. ### Claim 9 (depends on 8) The satellite of claim 8, wherein the housing has a maximum height, a maximum width and a maximum depth each not exceeding 10 cm. ### Claim 10 (depends on 9) The satellite of claim 9, wherein the orientable payload comprises a solar panel. ### Claim 11 A method of positioning a payload relative to a base comprising the steps of: providing an apparatus having: a base; a rotating member rotatably mounted to the base such that the rotating member rotates about a first axis; a pivoting member pivotably mounted to the rotating member such that the pivoting member pivots about a second axis; an anti-twist member rotatably mounted to the pivoting member and rigidly coupled to an orientable payload; and a coupling apparatus that rotationally couples the anti-twist member and the orientable payload to the base such that a rotational orientation of the anti-twist member and the orientable payload relative to the base remains constant regardless of a rotational orientation or a pivoting orientation of the pivoting member relative to the base; rotating the payload of the apparatus about the first axis to a desired orientation relative to the base; and pivoting the payload about the second axis to a desired orientation relative to the base. ### Claim 12 (depends on 11) The method of claim 11, wherein the first axis is an azimuth axis and the second axis is an elevation axis. ### Claim 13 (depends on 11) The method of claim 11, further comprising translating the base and the payload along at least one linear translation axis.