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A gimbal is a pivoted support that permits rotation of an object about an axis. A set of three gimbals, one mounted on the other with
orthogonal In mathematics, orthogonality is the generalization of the geometric notion of ''perpendicularity''. By extension, orthogonality is also used to refer to the separation of specific features of a system. The term also has specialized meanings in ...
pivot axes, may be used to allow an object mounted on the innermost gimbal to remain independent of the rotation of its support (e.g. vertical in the first animation). For example, on a ship, the
gyroscope A gyroscope (from Ancient Greek γῦρος ''gŷros'', "round" and σκοπέω ''skopéō'', "to look") is a device used for measuring or maintaining orientation and angular velocity. It is a spinning wheel or disc in which the axis of rota ...
s, shipboard
compass A compass is a device that shows the cardinal directions used for navigation and geographic orientation. It commonly consists of a magnetized needle or other element, such as a compass card or compass rose, which can pivot to align itself with ...
es,
stove A stove or range is a device that burns fuel or uses electricity to generate heat inside or on top of the apparatus, to be used for general warming or cooking. It has evolved highly over time, with cast-iron and induction versions being develope ...
s, and even drink holders typically use gimbals to keep them upright with respect to the
horizon The horizon is the apparent line that separates the surface of a celestial body from its sky when viewed from the perspective of an observer on or near the surface of the relevant body. This line divides all viewing directions based on whether i ...
despite the ship's pitching and rolling. The gimbal suspension used for mounting compasses and the like is sometimes called a Cardan suspension after
Italian Italian(s) may refer to: * Anything of, from, or related to the people of Italy over the centuries ** Italians, an ethnic group or simply a citizen of the Italian Republic or Italian Kingdom ** Italian language, a Romance language *** Regional Ita ...
mathematician and physicist
Gerolamo Cardano Gerolamo Cardano (; also Girolamo or Geronimo; french: link=no, Jérôme Cardan; la, Hieronymus Cardanus; 24 September 1501– 21 September 1576) was an Italian polymath, whose interests and proficiencies ranged through those of mathematician, ...
(1501–1576) who described it in detail. However, Cardano did not invent the gimbal, nor did he claim to. The device has been known since antiquity, first described in the 3rd c. BC by Philo of Byzantium, although some modern authors support the view that it may not have a single identifiable inventor.


History

The gimbal was first described by the
Greek Greek may refer to: Greece Anything of, from, or related to Greece, a country in Southern Europe: *Greeks, an ethnic group. *Greek language, a branch of the Indo-European language family. **Proto-Greek language, the assumed last common ancestor ...
inventor
Philo of Byzantium Philo of Byzantium ( el, , ''Phílōn ho Byzántios'', ca. 280 BC – ca. 220 BC), also known as Philo Mechanicus, was a Greek engineer, physicist and writer on mechanics, who lived during the latter half of the 3rd century BC. Although he was f ...
(280–220 BC). Philo described an eight-sided ink pot with an opening on each side, which can be turned so that while any face is on top, a pen can be dipped and inked — yet the ink never runs out through the holes of the other sides. This was done by the suspension of the inkwell at the center, which was mounted on a series of concentric metal rings so that it remained stationary no matter which way the pot is turned. In
Ancient China The earliest known written records of the history of China date from as early as 1250 BC, from the Shang dynasty (c. 1600–1046 BC), during the reign of king Wu Ding. Ancient historical texts such as the '' Book of Documents'' (early chapte ...
, the
Han Dynasty The Han dynasty (, ; ) was an imperial dynasty of China (202 BC – 9 AD, 25–220 AD), established by Liu Bang (Emperor Gao) and ruled by the House of Liu. The dynasty was preceded by the short-lived Qin dynasty (221–207 BC) and a warr ...
(202 BC – 220 AD) inventor and mechanical engineer
Ding Huan Ding Huan () was a Chinese craftsman, mechanical engineer, and inventor who lived in the first century BC during the Han dynasty. Among the inventions attributed to him is an air conditioning system based on evaporative cooling. Purported inventio ...
created a gimbal
incense burner A censer, incense burner, perfume burner or pastille burner is a vessel made for burning incense or perfume in some solid form. They vary greatly in size, form, and material of construction, and have been in use since ancient times throughout t ...
around 180 AD. There is a hint in the writing of the earlier
Sima Xiangru Sima Xiangru ( , ; c. 179117BC) was a Chinese musician, poet, and politician who lived during the Western Han dynasty. Sima is a significant figure in the history of Classical Chinese poetry, and is generally regarded as the greatest of all com ...
(179–117 BC) that the gimbal existed in China since the 2nd century BC. There is mention during the
Liang Dynasty The Liang dynasty (), alternatively known as the Southern Liang () in historiography, was an imperial dynasty of China and the third of the four Southern dynasties during the Northern and Southern dynasties period. It was preceded by the South ...
(502–557) that gimbals were used for hinges of doors and windows, while an artisan once presented a portable warming
stove A stove or range is a device that burns fuel or uses electricity to generate heat inside or on top of the apparatus, to be used for general warming or cooking. It has evolved highly over time, with cast-iron and induction versions being develope ...
to Empress
Wu Zetian Wu Zetian (17 February 624 – 16 December 705), personal name Wu Zhao, was the ''de facto'' ruler of the Tang dynasty from 665 to 705, ruling first through others and then (from 690) in her own right. From 665 to 690, she was first empres ...
(r. 690–705) which employed gimbals. Extant specimens of Chinese gimbals used for incense burners date to the early
Tang Dynasty The Tang dynasty (, ; zh, t= ), or Tang Empire, was an Dynasties in Chinese history, imperial dynasty of China that ruled from 618 to 907 AD, with an Zhou dynasty (690–705), interregnum between 690 and 705. It was preceded by the Sui dyn ...
(618–907), and were part of the
silver Silver is a chemical element with the Symbol (chemistry), symbol Ag (from the Latin ', derived from the Proto-Indo-European wikt:Reconstruction:Proto-Indo-European/h₂erǵ-, ''h₂erǵ'': "shiny" or "white") and atomic number 47. A soft, whi ...
-smithing tradition in China. The authenticity of Philo's description of a cardan suspension has been doubted by some authors on the ground that the part of Philo's ''Pneumatica'' which describes the use of the gimbal survived only in an
Arabic Arabic (, ' ; , ' or ) is a Semitic languages, Semitic language spoken primarily across the Arab world.Semitic languages: an international handbook / edited by Stefan Weninger; in collaboration with Geoffrey Khan, Michael P. Streck, Janet C ...
translation of the early 9th century. Thus, as late as 1965, the
sinologist Sinology, or Chinese studies, is an academic discipline that focuses on the study of China primarily through Chinese philosophy, language, literature, culture and history and often refers to Western scholarship. Its origin "may be traced to the ex ...
Joseph Needham Noel Joseph Terence Montgomery Needham (; 9 December 1900 – 24 March 1995) was a British biochemist, historian of science and sinologist known for his scientific research and writing on the history of Chinese science and technology, in ...
suspected Arab
interpolation In the mathematical field of numerical analysis, interpolation is a type of estimation, a method of constructing (finding) new data points based on the range of a discrete set of known data points. In engineering and science, one often has a n ...
. However, Carra de Vaux, author of the French translation which still provides the basis for modern scholars, regards the ''Pneumatics'' as essentially genuine. The historian of technology George Sarton (1959) also asserts that it is safe to assume the Arabic version is a faithful copying of Philo's original, and credits Philon explicitly with the invention. So does his colleague Michael Lewis (2001). In fact, research by the latter scholar (1997) demonstrates that the Arab copy contains sequences of Greek letters which fell out of use after the 1st century, thereby strengthening the case that it is a faithful copy of the
Hellenistic In Classical antiquity, the Hellenistic period covers the time in Mediterranean history after Classical Greece, between the death of Alexander the Great in 323 BC and the emergence of the Roman Empire, as signified by the Battle of Actium in ...
original, a view recently also shared by the classicist Andrew Wilson (2002). The
ancient Roman In modern historiography, ancient Rome refers to Roman civilisation from the founding of the city of Rome in the 8th century BC to the collapse of the Western Roman Empire in the 5th century AD. It encompasses the Roman Kingdom (753–509 BC ...
author
Athenaeus Mechanicus Athenaeus Mechanicus is the author of a book on siegecraft, ''On Machines'' ( grc, Περὶ μηχανημάτων '). He is identified by modern scholars with Athenaeus of Seleucia, a member of the Peripatetic school active in the mid-to-late 1s ...
, writing during the reign of
Augustus Caesar Augustus (born Gaius Octavius; 23 September 63 BC – 19 August AD 14), also known as Octavian, was the first Roman emperor; he reigned from 27 BC until his death in AD 14. He is known for being the founder of the Roman Pri ...
(30 BC–14 AD), described the military use of a gimbal-like mechanism, calling it "little ape" (''pithêkion''). When preparing to attack coastal towns from the sea-side, military engineers used to yoke merchant-ships together to take the siege machines up to the walls. But to prevent the shipborne machinery from rolling around the deck in heavy seas, Athenaeus advises that "you must fix the ''pithêkion'' on the platform attached to the merchant-ships in the middle, so that the machine stays upright in any angle". After antiquity, gimbals remained widely known in the
Near East The ''Near East''; he, המזרח הקרוב; arc, ܕܢܚܐ ܩܪܒ; fa, خاور نزدیک, Xāvar-e nazdik; tr, Yakın Doğu is a geographical term which roughly encompasses a transcontinental region in Western Asia, that was once the hist ...
. In the Latin West, reference to the device appeared again in the 9th century recipe book called the ''Little Key of Painting (''
mappae clavicula The ''mappae clavicula'' is a medieval Latin text containing manufacturing recipes for crafts materials, including for metals, glass, mosaics, and dyes and tints for materials. The information and style in the recipes is very terse. Each recipe co ...
''). The French inventor
Villard de Honnecourt Villard de Honnecourt (''Wilars dehonecort'', ''Vilars de Honecourt'') was a 13th-century artist from Picardy in northern France. He is known to history only through a surviving portfolio or "sketchbook" containing about 250 drawings and designs ...
depicts a set of gimbals in his sketchbook (see right). In the early modern period, dry compasses were suspended in gimbals.


Verb form etymology

The word "gimbal" began as a noun. Most modern dictionaries continue to list it as such. Lacking a convenient term to describe the swinging movement of a
rocket engine A rocket engine uses stored rocket propellants as the reaction mass for forming a high-speed propulsive jet of fluid, usually high-temperature gas. Rocket engines are reaction engines, producing thrust by ejecting mass rearward, in accordanc ...
, engineers began also using the word "gimbal" as a verb. When a thrust chamber is swung by an attached actuator, the movement is referred to as "gimballed" or "gimballing". Official rocket documentation reflects this usage.


Applications


Inertial navigation

In inertial navigation, as applied to ships and submarines, a minimum of three gimbals are needed to allow an
inertial navigation system An inertial navigation system (INS) is a navigation device that uses motion sensors (accelerometers), rotation sensors ( gyroscopes) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity (dire ...
(stable table) to remain fixed in inertial space, compensating for changes in the ship's yaw, pitch, and roll. In this application, the
inertial measurement unit An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometer ...
(IMU) is equipped with three
orthogonal In mathematics, orthogonality is the generalization of the geometric notion of ''perpendicularity''. By extension, orthogonality is also used to refer to the separation of specific features of a system. The term also has specialized meanings in ...
ly mounted gyros to sense rotation about all axes in three-dimensional space. The gyro outputs are kept to a null through drive motors on each gimbal axis, to maintain the orientation of the IMU. To accomplish this, the gyro error signals are passed through " resolvers" mounted on the three gimbals, roll, pitch and yaw. These resolvers perform an automatic matrix transformation according to each gimbal angle, so that the required torques are delivered to the appropriate gimbal axis. The yaw torques must be resolved by roll and pitch transformations. The gimbal angle is never measured. Similar sensing platforms are used on aircraft. In inertial navigation systems,
gimbal lock Gimbal lock is the loss of one degree of freedom in a three-dimensional, three-gimbal mechanism that occurs when the axes of two of the three gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate t ...
may occur when vehicle rotation causes two of the three gimbal rings to align with their pivot axes in a single plane. When this occurs, it is no longer possible to maintain the sensing platform's orientation.


Rocket engines

In
spacecraft propulsion Spacecraft propulsion is any method used to accelerate spacecraft and artificial satellites. In-space propulsion exclusively deals with propulsion systems used in the vacuum of space and should not be confused with space launch or atmospheric e ...
,
rocket engine A rocket engine uses stored rocket propellants as the reaction mass for forming a high-speed propulsive jet of fluid, usually high-temperature gas. Rocket engines are reaction engines, producing thrust by ejecting mass rearward, in accordanc ...
s are generally mounted on a pair of gimbals to allow a single engine to vector thrust about both the pitch and yaw axes; or sometimes just one axis is provided per engine. To control roll, twin engines with differential pitch or yaw control signals are used to provide torque about the vehicle's
roll Roll or Rolls may refer to: Movement about the longitudinal axis * Roll angle (or roll rotation), one of the 3 angular degrees of freedom of any stiff body (for example a vehicle), describing motion about the longitudinal axis ** Roll (aviation), ...
axis.


Photography and imaging

Gimbals are also used to mount everything from small
camera lens A camera lens (also known as photographic lens or photographic objective) is an optical lens or assembly of lenses used in conjunction with a camera body and mechanism to make images of objects either on photographic film or on other media capab ...
es to large photographic telescopes. In portable photography equipment, single-axis gimbal heads are used in order to allow a balanced movement for camera and lenses. This proves useful in
wildlife photography Wildlife photography is a genre of photography concerned with documenting various forms of wildlife in their natural habitat. As well as requiring photography skills, wildlife photographers may need field craft skills. For example, some anima ...
as well as in any other case where very long and heavy
telephoto lens A telephoto lens, in photography and cinematography, is a specific type of a long-focus lens in which the physical length of the lens is shorter than the focal length. This is achieved by incorporating a special lens group known as a ''telephoto ...
es are adopted: a gimbal head rotates a lens around its
center of gravity In physics, the center of mass of a distribution of mass in space (sometimes referred to as the balance point) is the unique point where the weight function, weighted relative position (vector), position of the distributed mass sums to zero. Thi ...
, thus allowing for easy and smooth manipulation while tracking moving subjects. Very large gimbal mounts in the form 2 or 3 axis altitude-altitude mounts are used in
satellite photography Satellite images (also Earth observation imagery, spaceborne photography, or simply satellite photo) are images of Earth collected by imaging satellites operated by governments and businesses around the world. Satellite imaging companies sell im ...
for tracking purposes. Gyrostabilized gimbals which house multiple sensors are also used for airborne surveillance applications including airborne law enforcement, pipe and power line inspection, mapping, and ISR (
intelligence, surveillance, and reconnaissance ISTAR stands for intelligence, surveillance, target acquisition, and reconnaissance. In its macroscopic sense, ISTAR is a practice that links several battlefield functions together to assist a combat force in employing its sensors and managing t ...
). Sensors include
thermal imaging Infrared thermography (IRT), thermal video and/or thermal imaging, is a process where a thermal camera captures and creates an image of an object by using infrared radiation emitted from the object in a process, which are examples of infrared i ...
, daylight, low light cameras as well as
laser range finder A laser rangefinder, also known as a laser telemeter, is a rangefinder that uses a laser beam to determine the distance to an object. The most common form of laser rangefinder operates on the time of flight principle by sending a laser pulse in ...
, and illuminators. Gimbal systems are also used in scientific optics equipment. For example, they are used to rotate a material sample along an axis to study their angular dependence of optical properties.


Film and video

Handheld 3-axis gimbals are used in stabilization systems designed to give the camera operator the independence of handheld shooting without camera vibration or shake. There are two versions of such stabilization systems: mechanical and motorized. Mechanical gimbals have the sled, which includes the top ''stage'' where the camera is attached, the ''post'' which in most models can be extended, with the monitor and batteries at the bottom to counterbalance the camera weight. This is how the Steadicam stays upright, by simply making the bottom slightly heavier than the top, pivoting at the gimbal. This leaves the
center of gravity In physics, the center of mass of a distribution of mass in space (sometimes referred to as the balance point) is the unique point where the weight function, weighted relative position (vector), position of the distributed mass sums to zero. Thi ...
of the whole rig, however heavy it may be, exactly at the operator's fingertip, allowing deft and finite control of the whole system with the lightest of touches on the gimbal. Powered by three
brushless motors A brushless DC electric motor (BLDC motor or BL motor), also known as an electronically commutated motor (ECM or EC motor) or synchronous DC motor, is a synchronous motor using a direct current (DC) electric power supply. It uses an electronic ...
, motorized gimbals have the ability to keep the camera level on all axes as the camera operator moves the camera. An inertial measurement unit (IMU) responds to movement and utilizes its three separate motors to stabilize the camera. With the guidance of algorithms, the stabilizer is able to notice the difference between deliberate movement such as pans and tracking shots from unwanted shake. This allows the camera to seem as if it is floating through the air, an effect achieved by a
Steadicam Steadicam is a brand of camera stabilizer mounts for Movie camera, motion picture cameras invented by Garrett Brown and introduced in 1975 by Cinema Products Corporation. It was designed to isolate the camera from the camera operator's movement ...
in the past. Gimbals can be mounted to cars and other vehicles such as drones, where vibrations or other unexpected movements would make tripods or other camera mounts unacceptable. An example which is popular in the live TV broadcast industry, is th
Newton 3-axis camera gimbal


Marine chronometers

The rate of a mechanical
marine chronometer A marine chronometer is a precision timepiece that is carried on a ship and employed in the determination of the ship's position by celestial navigation. It is used to determine longitude by comparing Greenwich Mean Time (GMT), or in the modern ...
is sensitive to its orientation. Because of this, chronometers were normally mounted on gimbals, in order to isolate them from the rocking motions of a ship at sea.


Gimbal lock

Gimbal lock is the loss of one degree of freedom in a three-dimensional, three-gimbal mechanism that occurs when the axes of two of the three gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate two-dimensional space. The word lock is misleading: no gimbal is restrained. All three gimbals can still rotate freely about their respective axes of suspension. Nevertheless, because of the parallel orientation of two of the gimbals' axes there is no gimbal available to accommodate rotation about one axis.


See also

* Canfield joint *
Heligimbal The Cineflex ''Heligimbal'' is a form of Gyro-stabilized camera systems, gimbal technology consisting of a motion-stabilized helicopter mount for motion picture cameras. The technology, originally developed by the military, provides a high degree ...
*
Universal joint A universal joint (also called a universal coupling or U-joint) is a joint or coupling connecting rigid shafts whose axes are inclined to each other. It is commonly used in shafts that transmit rotary motion. It consists of a pair of hinges lo ...
*
Cardan shaft A drive shaft, driveshaft, driving shaft, tailshaft ( Australian English), propeller shaft (prop shaft), or Cardan shaft (after Girolamo Cardano) is a component for transmitting mechanical power and torque and rotation, usually used to connect ...
*
Keyhole problem The keyhole problem, in the context of astronomy, refers to the difficulty that azimuth-elevation type telescopes or antenna gimbal systems encounter in crossing the zenith. Area of visible sky To track celestial objects as they move across ...
*
Trunnion A trunnion (from Old French "''trognon''", trunk) is a cylindrical protrusion used as a mounting or pivoting point. First associated with cannons, they are an important military development. Alternatively, a trunnion is a shaft that positions a ...


References


External links

* {{Commons category inline Ancient Roman technology Chinese inventions Greek inventions Gyroscopes Hellenistic engineering Mechanisms (engineering)