Pitch-yaw actuation system and method for actuating a device head

A device head assembly, comprising:

• a head frame;
• a pitch-yaw actuation system, including:
• a pitch frame coupled to the head frame via a pitch hinge having a pitch axis;
• a yaw frame coupled to the pitch frame via a yaw hinge having a yaw axis orthogonal to the pitch axis, the yaw frame configured to receive a device head;
• a pitch actuator coupled to the head frame and configured to pivot the pitch frame about the pitch axis;
• a yaw actuator coupled to the head frame and configured to pivot the yaw frame about the yaw axis;
• a universal joint assembly coupling the yaw actuator to the yaw frame, and including:
• a linear guide mechanism having a guide mechanism axis;
• a universal joint slidably coupled to the linear guide mechanism;
• and the guide mechanism axis is oriented at an angle allowing the universal joint to move relative to the linear guide mechanism in a manner accommodating misalignment of the yaw actuator with the yaw frame during pivoting of the pitch frame and the yaw frame.

A method of actuating a device head, comprising:

• pivoting, using a pitch actuator, a pitch frame about a pitch axis of a pitch hinge coupling the pitch frame to a head frame;
• pivoting, using a yaw actuator, a yaw frame about a yaw axis of a yaw hinge coupling the yaw frame to the pitch frame, the yaw axis oriented orthogonal to the pitch axis, the yaw actuator coupled to the yaw frame via a linear guide mechanism and a universal joint slidably coupled to the linear guide mechanism;
• moving the universal joint along the linear guide mechanism;
• which has the guide mechanism axis is oriented at an angle that allows the universal joint to move in a manner accommodating misalignment of the yaw actuator with the yaw frame during pivoting of at least one of the pitch frame and the yaw frame.