# US 9,882,276 B1 · Pivoting sensor drive 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 9,882,276 B1 - Document ID: US9882276B1 - Status: Granted - Kind: B1 - Application number: 14/695,586 - Filed: 2015-04-24 - Granted: 2018-01-30 - Earliest claimed: 2011-08-08 - Assignees: Lockheed Martin Corporation - Applicants: Lockheed Martin Corporation - Inventors: Richard R. Hall; Peter M. Nichols - Web page: https://patentgrep.com/patent/US9882276B1 ## CPC - H01Q 3/08: for varying two co-ordinates of the orientation - H01Q 1/12: Supports; Mounting means - H01Q 1/125: {Means for positioning} - H01Q 3/00: Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system {(means for positioning H01Q1/125)} - H01Q 3/02: using mechanical movement of antenna or antenna system as a whole - H01Q: ANTENNAS, i.e. RADIO AERIALS (radiators or antennas for microwave heating H05B6/72) ## Abstract A method of articulating a sensor comprising the steps applying a friction force on a curved surface of a sensor support frame with a friction drive actuator for pivoting the sensor support frame about a pivot point for altering an elevation and azimuth angle of the sensor. The sensor may be maintained at a predetermined elevation angle while the sensor support frame is pivoted about the pivot point with the friction drive actuator for altering an azimuth angle of the sensor. ## Claims ### Claim 1 A method of articulating a sensor supported by a sensor support frame movably mounted with respect to a base, comprising the steps of: applying a first friction force on a first three-dimensional curved surface having a constant radius of the sensor support frame supporting the sensor with a first friction drive actuator for pivoting the sensor support frame about a first axis and a pivot point; and applying a second friction force on a second three-dimensional curved surface having a constant radius of the sensor support frame with a second friction drive actuator for pivoting the sensor support frame about a second axis and the pivot point, wherein the pivot point is defined at an intersection of the first axis and the second axis; wherein pivoting the sensor support frame about the first and second axes provides the sensor with 360 degrees of azimuth revolution at a plurality of elevation angles with respect to the base. ### Claim 2 (depends on 1) The method of claim 1, further comprising the step of maintaining the sensor at a predetermined elevation angle while pivoting the sensor support frame about the first and second axes and the pivot point to alter an azimuth position of the sensor with the first and second friction drive actuators. ### Claim 3 (depends on 1) The method of claim 1, wherein the sensor support frame is pivoted about the first and second axes simultaneously. ### Claim 4 (depends on 1) The method of claim 1, wherein the sensor support frame comprises a generally spherical shape. ### Claim 5 A method of articulating a sensor supported by a sensor support frame curved in three dimensions, each of a constant radius, movably mounted with respect to a base, comprising the steps of: applying a friction force on a three-dimensional curved surface of the sensor support frame curved in three dimensions with a friction drive actuator for pivoting the sensor support frame about at least two axes and a pivot point defined at an intersection of at least two axes; pivoting the sensor support frame about the pivot point to alter an azimuth position of the sensor with the friction drive actuator while maintaining the sensor at a predetermined elevation angle with respect to the base. ### Claim 6 (depends on 5) The method of claim 5, wherein the step of pivoting the sensor support frame about the pivot point includes pivoting the sensor support frame about the at least two axes for altering the elevation and azimuth angle of the sensor. ### Claim 7 (depends on 6) The method of claim 6, wherein the step of pivoting the sensor support frame about at least two axes includes simultaneously pivoting the sensor about the at least two axes. ### Claim 8 (depends on 5) The method of claim 5, wherein the step of pivoting the sensor support frame about the pivot point to alter an azimuth position of the sensor comprises pivoting the sensor support frame such that its azimuth position is changing with a constant angular velocity. ### Claim 9 (depends on 5) The method of claim 5, wherein the sensor comprises a radar antenna array. ### Claim 10 A method of articulating a sensor supported by a sensor support frame curved in three dimensions, each of a constant radius, movably mounted with respect to a base, comprising the steps of: applying a friction force on a three-dimensional curved surface of the sensor support frame with a friction drive actuator for pivoting the sensor support frame curved in three dimensions about at least two axes and a pivot point for altering an elevation and azimuth angle of the sensor, the pivot point defined at an intersection of the at least two axes; and applying a friction force on the three-dimensional curved surface of the sensor support frame with the friction drive actuator for pivoting the sensor support frame curved in three dimensions about the at least two axes and the pivot point for altering an azimuth angle of the sensor while maintaining the sensor at a predetermined elevation angle with respect to the base. ### Claim 11 (depends on 10) The method of claim 10, wherein the sensor support frame comprises a generally spherical shape. ### Claim 12 (depends on 10) The method of claim 10, wherein the friction drive actuator is configured to provide the sensor with 360 degrees of azimuth revolution at a plurality of elevation angles.