Two-Axis Gimbal

Summary

CUAir, a project team at Cornell University, designs and builds a custom search and rescue unmanned aerial system. As a member of the Ground Systems subteam, I currently work cooperatively with the Structures & Payloads subteam to build a fully functional two-axis gimbal that will be integrated into the Artemis, our newest plane.

The gimbal is an ongoing project, built from scratch, and it's currently in its manufacturing stage. The design process, including the full CAD design and the prospective manufacturing techniques going to be used are documented below.

Final design in Solidworks

Specifications

Vertical space: 4-5 inches (100-127 mm)
Sony R10C camera diameter: 100 mm
Total estimated horizontal length: 143 mm
Total estimated vertical height: 100 mm maximum
Field of vision: 50 degrees on each axis (pitch and roll)

Individual image of camera covering (the yoke) in Solidworks

Manufacturing Techniques

Material used for final gimbal design is a carbon fiber layup done by hand
CNC shaper to prototype final gimbal design, using handheld Shaper Origin SO1-NN. This manufacturing technique is used on the 1/8" carbon fiber layup
Development of carbon fiber layup with a ply of 0/90 degrees
This prototyping is done on 1/8" birch wood through lasercutting and various milling techniques
Curation of epoxy resin to secure bearings and axles to ensure fit

Planned Developments (Track my progress!)

Integration into the full VTOL plane, working collaboratively to fit the fully functional gimbal into pre-determined fuselage measurements along with software and electrical incorporation
Building a protective covering, called a "bubble" around the gimbal for to reduce drag and airflow into the fuselage and for overall aerodynamic purposes
Analysis of center of gravity (heavily based on material density and motor weight) in order to ensure precision in the camera rotation during competition as well as ANSYS analysis of stress