Three-axis gimbal assembly with a spherical motor

A multi-axis gimbal assembly, comprising:

• a spherical armature having an inner surface, an outer surface, a first axis of symmetry, a second axis of symmetry, and a third axis of symmetry, the inner surface defining a cavity, the first, second, and third axes of symmetry disposed perpendicular to each other;
• a first coil wound on the spherical armature about the first axis of symmetry;
• a second coil wound on the spherical armature about the second axis of symmetry;
• a third coil wound on the spherical armature about the third axis of symmetry;
• a bracket rotationally coupled to the spherical armature to allow relative rotation between the spherical armature and the bracket around only the first axis of symmetry;
• a stator spaced apart from the spherical armature and including a magnet that emanates a magnetic field, the stator rotationally coupled to the bracket to allow relative rotation between the stator and the bracket and spherical armature around only the second axis of symmetry;
• a camera assembly disposed at least partially within the cavity of the spherical armature;
• and
• a DC motor coupled to the stator and configured to simultaneously rotate the stator, the bracket, and the spherical armature around the third axis of symmetry,
• wherein rotation of the spherical armature around the first and second axes of symmetry is controlled in response to current magnitudes and directions in one or more of the first, second, and third coils.

A machine, comprising:

• an unmanned air vehicle (UAV);
• and
• a multi-axis gimbal assembly coupled to the UAV, the multi-axis gimbal assembly comprising:
• a spherical armature having an inner surface, an outer surface, a first axis of symmetry, a second axis of symmetry, and a third axis of symmetry, the inner surface defining a cavity, the first, second, and third axes of symmetry disposed perpendicular to each other;
• a first coil wound on the spherical armature about the first axis of symmetry;
• a second coil wound on the spherical armature about the second axis of symmetry;
• a third coil wound on the spherical armature about the third axis of symmetry;
• a bracket rotationally coupled to the spherical armature to allow relative rotation between the spherical armature and the bracket around only the first axis of symmetry;
• a stator spaced apart from the spherical armature and including a magnet that emanates a magnetic field, the stator rotationally coupled to the bracket to allow relative rotation between the stator and the bracket and spherical armature around only the second axis of symmetry;
• a camera assembly disposed at least partially within the cavity of the spherical armature;
• and
• a motor coupled to the stator and configured to simultaneously rotate the stator, the bracket, and the spherical armature around the third axis of symmetry,
• wherein rotation of the spherical armature around the first and second axes of symmetry is controlled in response to current magnitudes and directions in one or more of the first, second, and third coils.