Isolation Joint with Spherical Bearing and Integral Angle Measurement

A system for inertially stabilizing a payload, comprising:

• a support structure comprising one or more suspension bars;
• the payload;
• and
• an isolation joint with integral angle measurement coupled to the support structure via the one or more suspension bars, the isolation joint with integral angle measurement comprising:
• a suspension interface yoke comprising a suspension interface coupling the suspension interface yoke to the one or more suspension bars;
• a payload support member comprising a payload interface coupling the payload to the payload support member, the suspension interface yoke and the payload support member being movably supported relative to one another;
• a spherical bearing having an inner race secured to one of the suspension interface yoke and the payload support member and an outer race secured to the other of the suspension interface yoke and the payload support member, wherein the inner race is rotatable relative to the outer race about three orthogonal rotational axes and fixed in translation along the three orthogonal axes;
• and
• an integral angle measurement system comprising a plurality of position sensors configured to measure a change in position between the suspension interface yoke and the payload support member, each of the plurality of position sensors being secured to one of the payload support member or the suspension interface yoke.

A method of configuring an isolation joint having integral angle measurement, comprising:

• securing a first race of a spherical bearing to a suspension interface yoke, the suspension interface yoke comprising a suspension interface configured to couple the suspension interface yoke to one or more suspension bars;
• securing a second race of the spherical bearing to a payload support member, the payload support member comprising a payload interface configured to couple a payload to the payload support member, wherein the first race is rotatable relative to the second race about three orthogonal rotational axes and fixed in translation relative to three orthogonal translational axes;
• and
• securing a plurality of position sensors to at least one of the payload support member or the suspension interface yoke as part of an integral angle measurement system operable to measure a change in position between the suspension interface yoke and the payload support member.