A wide-range magnetic-gas composite actuator and a platform for enhancing pointing accuracy

Abstract

This application pertains to the field of enhancing the pointing accuracy of vehicle-mounted, shipborne, and airborne optoelectronic equipment. It discloses a magnetic-pneumatic composite wide-range actuator and a pointing accuracy enhancement platform. The wide-range actuator includes: a cylinder with an internal rubber diaphragm; a main shaft, one end of which extends from the side wall of the cylinder and is connected to a piston tail plate, and the other end of which is connected to a first transition flange; a main directional bearing is sleeved on the main shaft; a damping sealing diaphragm sleeved on the main shaft, with its two ends respectively sealed to the first transition flange and the main directional bearing; an electromagnetic actuator including a stator and a mover coaxially sleeved, one end of which is connected to a second transition flange; the first and second transition flanges clamping and fixing the rubber diaphragm together; and a magnetic negative stiffness device located between the outer wall of the cylinder and the piston tail plate. This application solves the problem that existing active-passive composite actuator technologies struggle to handle the coexistence of low-frequency large displacements and mid-to-high-frequency random disturbances experienced by optoelectronic equipment under complex maneuvering conditions.

Description

Technical Field

[0001] This application belongs to the field of pointing accuracy enhancement for vehicle-mounted, ship-mounted, and airborne optoelectronic equipment, and more specifically, relates to a magnetic-gas composite wide-range actuator and pointing accuracy enhancement platform. Background Technology

[0002] With the development of high-precision optoelectronic payloads, vehicle-mounted, shipborne and airborne stabilization platforms, and precision measurement equipment, higher requirements are being placed on the system's dynamic response capability across the wide frequency range. In complex dynamic load environments such as vehicle driving, ship navigation, and air flight, external excitations often exhibit the characteristics of coexistence of low-frequency large displacements and mid-to-high-frequency random disturbances. Traditional single-actuation techniques are insufficient to meet the dynamic response requirements of all frequency bands.

[0003] Active control methods, such as force feedback or velocity feedback control based on electromagnetic actuators, can achieve dynamic response adjustment within a certain frequency band. Particularly in the mid-frequency resonance region, introducing a "ceiling damping" control strategy can effectively reduce the system's response peak. However, traditional electromagnetic actuators are limited by output force density and structural size, making them insufficient for applications requiring high thrust or long stroke, and their ability to adjust for low-frequency, large-displacement disturbances is also limited.

[0004] In addition, although there have been attempts to combine pneumatic and electromagnetic technologies in the existing technology, most of them adopt a single-cavity structure or simply superimpose functions, and have failed to achieve multi-frequency band synergistic optimization at the structural design and control mechanism levels, making it difficult to simultaneously meet multiple requirements such as low-frequency large displacement control, mid-frequency resonance adjustment and high-frequency disturbance isolation.

[0005] Especially in scenarios where high-pressure gas is filled into a sealed chamber to achieve high load-bearing capacity and thrust, traditional air springs mostly adopt a single-cavity design. Their dynamic characteristic adjustment range is limited, and their high-frequency dynamic response characteristics mainly rely on the natural frequency design, lacking further optimization methods. At the same time, the single-cavity structure also has certain limitations in achieving symmetrical force distribution and consistent dynamic response.

[0006] Therefore, there is an urgent need for a new type of wideband actuator structure that can provide greater output force under high-pressure environments and achieve coordinated response to low-frequency, mid-frequency, and high-frequency dynamic disturbances through the organic integration of pneumatic and electromagnetic control, so as to meet the comprehensive requirements of optoelectronic devices for stability and dynamic performance. Summary of the Invention

[0007] In response to the deficiencies or improvement needs of existing technologies, this application provides a magnetic-gas composite wide-range actuator and a pointing accuracy enhancement platform, aiming to solve the problem that existing active-passive composite actuator technologies are unable to handle the coexistence of low-frequency large displacement and medium-to-high-frequency random disturbances experienced by optoelectronic devices under complex maneuvering conditions.

[0008] The above-mentioned technical objectives of this application are mainly achieved through the following technical solutions.

[0009] On the one hand, this application provides a wide-range magnetic-gas composite actuator, which includes: The cylinder body has a deformable rubber membrane in the middle, which divides the internal space of the cylinder body into a first chamber and a second chamber with variable spatial size along the axial direction. A main shaft is located in the first chamber. One end of the main shaft extends upward from the side wall of the first chamber away from the rubber membrane and is connected to a piston tail plate. The other end of the main shaft is connected to a first adapter flange. A main directional bearing is sleeved on the main shaft. One end of the main directional bearing is fixed to the side wall of the first chamber. A deformable damping sealing diaphragm is sleeved on the main shaft, and the two ends of the damping sealing diaphragm along the axial direction of the main shaft are respectively sealed to the first transition flange and the end of the main directional bearing; An electromagnetic actuator located in the second chamber includes an electromagnetic actuator stator and an electromagnetic actuator mover coaxially sleeved. The electromagnetic actuator stator is fixed to the inner wall of the second chamber away from the rubber diaphragm. A second transition flange is connected to one end of the electromagnetic actuator mover away from the electromagnetic actuator stator. The first transition flange and the second transition flange clamp the rubber diaphragm and are fixedly connected. A magnetic negative stiffness device located between the outer wall of the cylinder and the piston tail plate, the magnetic negative stiffness device comprising an attraction-type magnetic negative stiffness component that generates axial magnetic attraction between the cylinder and the piston tail plate, and a repulsion-type magnetic negative stiffness component that generates axial magnetic repulsion between the cylinder and the piston tail plate.

[0010] In a preferred embodiment of this application, a sealing diaphragm support is sleeved on the outer periphery of the main bearing. One end of the sealing diaphragm support is fixed to the inner wall of the first chamber away from the rubber diaphragm. One end of the damping sealing diaphragm is sealed and fixed to the other end of the sealing diaphragm support by a first sealing diaphragm pressure ring. The other end of the damping sealing diaphragm is sealed and fixed to the first transition flange by a second sealing diaphragm pressure ring.

[0011] In a preferred embodiment of this application, the first sealing membrane pressure ring and / or the second sealing membrane pressure ring are provided with an annular groove, and the damping sealing membrane is formed by bending outward to form a circumferentially convex outer ring, the outer convex ring being located in the annular groove and in close compression contact with the surface of the annular groove.

[0012] In a preferred embodiment of this application, the attraction-type magnetic negative stiffness assembly includes a coaxial and oppositely arranged attraction-type magnetic negative stiffness mover and attraction-type magnetic negative stiffness stator. The attraction-type magnetic negative stiffness mover is fixedly mounted on the piston tail plate, and the attraction-type magnetic negative stiffness stator is fixedly mounted on the cylinder body. Both the attraction-type magnetic negative stiffness mover and the attraction-type magnetic negative stiffness stator are permanent magnets axially magnetized along their own central axis, and their opposite end faces are opposite polarity magnetic poles. The repulsive magnetic negative stiffness assembly includes a coaxial and nested repulsive magnetic negative stiffness mover and a repulsive magnetic negative stiffness stator. The repulsive magnetic negative stiffness mover is fixedly mounted on the piston tail plate, and the repulsive magnetic negative stiffness stator is fixedly mounted on the cylinder and extends axially into the repulsive magnetic negative stiffness mover. Both the repulsive magnetic negative stiffness mover and the repulsive magnetic negative stiffness stator are permanent magnets axially magnetized along their own central axis, and their common end faces are opposite polarity magnetic poles.

[0013] In a preferred embodiment of this application, the plurality of attraction-type magnetic negative stiffness components and the plurality of repulsion-type magnetic negative stiffness components are evenly distributed alternately along the circumference and are all located on the same circumference with the axis of the main shaft as the center.

[0014] In a preferred embodiment of this application, the three attraction-type magnetic negative stiffness components and the three repulsion-type magnetic negative stiffness components are uniformly distributed at 120° intervals along the circumference.

[0015] In a preferred embodiment of this application, the attracting magnetic negative stiffness stator and the attracting magnetic negative stiffness mover are cylindrical tubes of the same size; the repulsive magnetic negative stiffness mover is a cylindrical tube, and the repulsive magnetic negative stiffness stator is a cylinder with an outer diameter smaller than that of the repulsive magnetic negative stiffness mover, and the cylinder is fixedly mounted on the cylinder body by a magnet guide rod.

[0016] In a preferred embodiment of this application, the magnetic-pneumatic composite wide-range actuator further includes a displacement sensor, a pressure sensor, and a speed sensor; the displacement sensor is connected between the cylinder and the piston tail plate to acquire displacement signals when the main shaft moves in the axial direction; the pressure sensor is disposed on the side wall of the cylinder to acquire pressure signals in the first chamber and the second chamber; and the speed sensor is disposed on the piston tail plate to acquire speed signals when the main shaft moves in the axial direction.

[0017] In a preferred embodiment of this application, a small guide bearing is provided on the side of the piston tail plate facing the cylinder body, and an optical shaft passes through the small guide bearing. One end of the optical shaft is fixed on the outer wall of the cylinder body.

[0018] In a preferred embodiment of this application, the displacement sensor, the speed sensor, and the small guide bearing are evenly distributed circumferentially at 120° intervals and are all located on the same circumference with the axis of the main shaft as the center.

[0019] In a preferred embodiment of this application, the linear domain of the magnetic negative stiffness device is greater than 80% of the stroke of the wide-range actuator.

[0020] In a preferred embodiment of this application, the cylinder body includes a first cylinder body and a second cylinder body that are joined and sealed together along an axis. The periphery of the rubber diaphragm is clamped and fixed between the first cylinder body and the second cylinder body. The rubber diaphragm seals the first cylinder body to form the first chamber, and the rubber diaphragm seals the second cylinder body to form the second chamber.

[0021] In a preferred embodiment of this application, when the spindle is in a preset equilibrium position, the volumes of the first chamber and the second chamber are the same.

[0022] In a preferred embodiment of this application, the first chamber has a first air hole and a second air hole on its side wall for air inlet / outlet and air pressure monitoring, respectively; the second chamber has a third air hole and a fourth air hole on its side wall for air inlet / outlet and air pressure monitoring, respectively; and the air pressure sensor is installed in both the second air hole and the fourth air hole.

[0023] On the other hand, this application also provides a pointing accuracy enhancement platform, which includes: Multiple wide-range magnetic-pneumatic composite actuators as described above, each of which is hinged at both ends to an external load and an external motor platform, respectively; A controller connected to the wide-range actuator is used to control each of the wide-range actuators to enhance the pointing accuracy of the high-precision optoelectronic device with multiple degrees of freedom.

[0024] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages: 1. The magnetic-air composite wide-range actuator proposed in this application adopts a composite architecture of air-magnetic-electric multi-physics field synergy. It achieves low-frequency active control through dual-chamber air spring, precise suppression of mid-frequency resonance by electromagnetic actuator, and passive suppression of high-frequency disturbance by the inherent characteristics of air spring. The three work together to cover wide-frequency excitation, breaking through the technical bottlenecks of existing single technical solutions such as incomplete frequency band coverage, failure of disturbance resonance zone control, and excessive high-frequency energy consumption, and achieving wide-frequency, high-efficiency, and precise actuation performance.

[0025] 2. The magnetic-gas composite wide-range actuator proposed in this application integrates a magnetic negative stiffness device. By introducing passive negative stiffness, the dynamic stiffness of the actuator is significantly reduced while ensuring the high load capacity of the system. This solves the technical problem that traditional actuators cannot balance low frequency and high load, and that large load and high energy consumption are contradictory. It achieves an integrated design of small size, large load capacity, low power consumption and low stiffness.

[0026] 3. The magnetic-gas composite wide-range actuator proposed in this application can increase the overall stroke according to the actual working conditions. The effective stroke is not less than the preset threshold ±10mm, which can adapt to various working conditions from small disturbances to large displacement impact isolation, thus enhancing the environmental adaptability and engineering practicality of the actuator.

[0027] 4. The magnetic-air composite wide-range actuator proposed in this application is further equipped with a transfer unit at each end, which can construct a multi-degree-of-freedom pointing accuracy enhancement platform by combining multiple wide-range actuators. This platform integrates axial magnetization negative stiffness, dual-chamber air springs and electromagnetic actuators, and achieves wide-frequency domain actuation and pointing accuracy enhancement by means of multi-physics field cooperative control, significantly improving the universality of the wide-range actuator described in this application. Attached Figure Description

[0028] Figure 1 This is a cross-sectional structural schematic diagram of the wide-range magnetic-gas composite actuator described in this application; Figure 2 This is a partial schematic diagram of the magnetic negative stiffness device and velocity sensor within the magnetic-gas composite wide-range actuator described in this application. Figure 3 This is a partial schematic diagram of the magnetic negative stiffness device and small guide bearing in the wide-range magnetic-gas composite actuator described in this application. Figure 4 This is a cross-sectional view of the internal damping sealing membrane structure of the magnetic-gas composite wide-range actuator described in this application; Figure 5 This is a bottom view of the piston tail plate structure of the magnetic-gas composite wide-range actuator described in this application; Figure 6 This is a schematic diagram of the pointing accuracy enhancement platform described in this application; Figure 7 This is a schematic diagram of another embodiment of the pointing accuracy enhancement platform described in this application.

[0029] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 10. Cylinder block; 11. First cylinder block; 12. Second cylinder block; 13. First chamber; 14. Second chamber; 15. First vent; 16. Second vent; 17. Third vent; 18. Fourth vent; 19. Rubber diaphragm; 20. Damping sealing membrane; 21. Outer convex ring; 30. Main shaft; 31. Piston tail plate; 311. First mounting hole; 312. Second mounting hole; 313. Third step; 314. Threaded hole; 315. Third mounting hole; 316. First step; 317. Second step; 318. Fourth mounting hole; 32. First transition flange; 33. Main directional bearing; 34. Sealing diaphragm support; 35. First sealing diaphragm pressure ring; 36. Second sealing diaphragm pressure ring; 37. Annular groove; 40. Electromagnetic actuator; 41. Electromagnetic actuator stator; 42. Electromagnetic actuator mover; 43. Bottom transition flange; 44. Second transition flange; 45. First limiting element; 50. Attraction-type magnetic negative stiffness assembly; 51. Attraction-type magnetic negative stiffness mover; 52. Attraction-type magnetic negative stiffness stator; 53. Displacement bracket; 54. End fixing flange; 60. Repulsive magnetic negative stiffness assembly; 61. Repulsive magnetic negative stiffness mover; 62. Repulsive magnetic negative stiffness stator; 63. Magnet guide rod; 64. Second limiting component; 70. Displacement sensor; 71. Pressure sensor; 72. Speed ​​sensor; 73. Small guide bearing; 74. Optical axis; 75. Electrical feedthrough element; 80. External load; 81. External mobile platform. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] Implementation Method 1: This application provides a wide-range actuator combining magnetic and gas properties, such as... Figures 1 to 4As shown, it includes: a cylinder body 10, with a deformable rubber diaphragm 19 in the middle of the cylinder body 10, the rubber diaphragm 19 dividing the internal space of the cylinder body 10 into a first chamber 13 and a second chamber 14 with variable spatial sizes along the axial direction; a main shaft 30 located in the first chamber 13, one end of the main shaft 30 extending upward from the side wall of the first chamber 13 away from the rubber diaphragm 19 and connected to a piston tail plate 31, the other end of the main shaft 30 being connected to a first transition flange 32, a main directional bearing 33 being sleeved on the main shaft 30, one end of the main directional bearing 33 being fixed to the side wall of the first chamber 13; and a deformable damping sealing diaphragm 20 sleeved on the main shaft 30, the two ends of the damping sealing diaphragm 20 along the axial direction of the main shaft 30 being sealed and connected to the first transition flange 32 and the end of the main directional bearing 33, respectively. An electromagnetic actuator 40 is located in the second chamber 14. The electromagnetic actuator 40 includes an electromagnetic actuator stator 41 and an electromagnetic actuator mover 42 coaxially sleeved. The electromagnetic actuator stator 41 is fixed to the inner side wall of the second chamber 14 away from the rubber diaphragm 19. The end of the electromagnetic actuator mover 42 away from the electromagnetic actuator stator 41 is connected to a second transition flange 44. The first transition flange 32 and the second transition flange 44 clamp the rubber diaphragm 19 and are fixedly connected. A magnetic negative stiffness device is located between the outer side wall of the cylinder 10 and the piston tail plate 31. The magnetic negative stiffness device includes an attraction-type magnetic negative stiffness component 50 that generates an axial magnetic attraction force between the cylinder 10 and the piston tail plate 31, and a repulsion-type magnetic negative stiffness component 60 that generates an axial magnetic repulsion force between the cylinder 10 and the piston tail plate 31.

[0032] The magnetic-air composite wide-range actuator described in this application adopts a composite architecture that coordinates multiple physical fields of air, magnetism, and electricity. It achieves low-frequency active control through a dual-chamber air spring, precise suppression of mid-frequency resonance by an electromagnetic actuator 40, and passive suppression of high-frequency disturbances by the inherent properties of the air spring. The three work together to cover a wide frequency range of excitation, achieving wide-frequency, high-efficiency, and precise actuation performance. At the same time, it integrates a magnetic negative stiffness device, which provides passive negative stiffness to significantly reduce the dynamic stiffness of the actuator while ensuring the high load-bearing capacity of the system. This achieves an integrated design with small size, high load-bearing capacity, low power consumption, and low stiffness.

[0033] The following section will provide a detailed description of the specific structure of each part of the magnetic-gas composite wide-range actuator described in this application, as well as the position and connection relationship between each part.

[0034] The wide-range actuator includes a cylinder 10, such as Figure 1 As shown, the cylinder body 10 is a cylindrical structure with relatively closed upper and lower ends. In this embodiment, the cylinder body 10 includes a first cylinder body 11 and a second cylinder body 12 that are connected and sealed along its axis. The mating surfaces of the first cylinder body 11 and the second cylinder body 12 are provided with circumferentially outward extending mating flanges, and the two mating flanges are fixedly connected by bolts after mating.

[0035] A deformable rubber diaphragm 19 is provided in the middle of the cylinder body 10. The periphery of the rubber diaphragm 19 is clamped and fixed between the mating flanges of the first cylinder body 11 and the second cylinder body 12. The rubber diaphragm 19 divides the inner cavity of the cylinder body 10 into a first chamber 13 and a second chamber 14 with variable space size and variable internal air pressure; that is, the rubber diaphragm 19 seals the lower opening of the first cylinder body 11 to form the first chamber 13, and at the same time seals the upper opening of the second cylinder body 12 to form the second chamber 14.

[0036] Preferably, when the wide-range actuator is in the preset equilibrium position, the volumes of the first chamber 13 and the second chamber 14 are the same, thereby making the pressure response characteristics of the dual-chamber air spring formed in the cylinder 10 consistent and improving the smoothness of the system movement.

[0037] The wide-range actuator also includes an actuation device disposed within the cylinder 10. This actuation device is connected to the rubber diaphragm 19 and can move up and down along the axial direction of the cylinder 10. The actuation device mainly comprises two parts: a main shaft assembly disposed above the rubber diaphragm 19 and an electromagnetic actuator 40 disposed below the rubber diaphragm 19, as detailed below.

[0038] The spindle assembly mainly includes the spindle 30 and the main guide bearing 33, such as Figure 1 As shown, a through hole is provided on the upper side wall of the first chamber 13 away from the sealing membrane. The axis of the through hole coincides with the axis of the cylinder body 10. One end of the main directional bearing 33 passes through the through hole and is fixed to the upper side wall of the cylinder body 10 by screws. The outer diameter of the main directional bearing 33 is the same as the inner diameter of the through hole. The main shaft 30 passes through the main directional bearing 33 and the upper end of the main shaft 30 extends upward through the cylinder body 10. The upper end of the main shaft 30 is fixedly connected to the piston tail plate 31 by screws. The lower end of the main shaft 30 is fixedly connected to the first transition flange 32 by screws, and the axis of the first transition flange 32 coincides with the axis of the main shaft 30.

[0039] The electromagnetic actuator 40 mainly includes an electromagnetic actuator stator 41 and an electromagnetic actuator mover 42, such as Figure 1 As shown, the lower end of the stator 41 of the electromagnetic actuator is fixedly connected to a bottom transition flange 43 by screws, and the axis of the bottom transition flange 43 coincides with the axis of the stator 41. The bottom transition flange 43 is fixed to the lower side wall of the second chamber 14 away from the rubber diaphragm 19 by screws, and the axis of the bottom transition flange 43 coincides with the axis of the cylinder body 10. The mover 42 of the electromagnetic actuator is arranged coaxially and vertically opposite to the stator 41, and the mover 42 passes circumferentially downward inside the stator 41. The upper end of the mover 42 is fixedly connected to a second transition flange 44 by bolts, and the axis of the second transition flange 44 coincides with the axis of the mover 42.

[0040] Better, such as Figure 1As shown, the bottom of the stator 41 of the electromagnetic actuator is provided with a first limiting member 45, which is used to limit the downward movement stroke of the electromagnetic actuator 40.

[0041] The first transition flange 32 and the second transition flange 44 are vertically opposite each other and fixedly connected by screws. A rubber diaphragm 19 is clamped and fixed between the first transition flange 32 and the second transition flange 44. Figure 1 As shown, the central area of ​​the rubber diaphragm 19 is fixed to the actuating device so that it moves up and down with the actuating device. The edge area of ​​the rubber diaphragm 19 is fixed to the cylinder 10. The part between the central area and the edge area of ​​the rubber diaphragm 19 is bent to form folds. By setting folds, a certain follow-up margin is reserved to avoid damage to the rubber diaphragm 19 during the follow-up process.

[0042] When the external load 80 generates medium-to-high frequency motion, the piston tail plate 31 moves, which drives the main shaft 30 to move as well, thereby driving the first transition flange 32, the second transition flange 44, and the electromagnetic actuator mover 42 to move, thus causing the electromagnetic actuator 40 to generate corresponding actuation force.

[0043] The wide-range actuator also includes a deformable damping sealing membrane 20 sleeved on the main shaft 30. The damping sealing membrane 20 is used to seal the lower end of the main shaft 30 to prevent gas from seeping and leaking along the sealing edge, and to ensure the gas sealing and pressure stability in the first chamber 13.

[0044] Specifically, such as Figure 1 and Figure 4 As shown, a sealing diaphragm support 34 is fitted around the outer periphery of the main bearing 33. The inner diameter of the sealing diaphragm support 34 is the same as the outer diameter of the main bearing 33. The upper end of the sealing diaphragm support 34 is fixed to the inner wall of the first chamber 13 away from the rubber diaphragm 19, and the lower end of the sealing diaphragm support 34 extends downward to be flush with the lower end face of the main bearing 33. The lower end of the spindle 30 extends downward from the lower end face of the main bearing 33 and is fitted with a damping sealing diaphragm 20. The upper part of the damping sealing diaphragm 20 is sealed and fixed to the lower end face of the sealing diaphragm support 34 by a first sealing diaphragm pressure ring 35, and the lower part of the damping sealing diaphragm 20 is sealed and fixed to the upper end face of the first transition flange 32 by a second sealing diaphragm pressure ring 36. Both the first sealing diaphragm ring 35 and the second sealing diaphragm ring 36 are annular structures, and both are made of rigid structural material. This material is non-elastic and non-soft, possessing sufficient structural rigidity, and will not undergo plastic deformation under working loads, with an elastic modulus of not less than 10 GPa. The second sealing diaphragm ring 36 is fixed to the upper end face of the first transition flange 32 by screws, with the lower skirt of the damping sealing diaphragm 20 clamped and fixed between the two. The first sealing diaphragm ring 35 is fixed to the lower end face of the sealing diaphragm support 34 by screws, with the upper skirt of the damping sealing diaphragm 20 clamped and fixed between the two.

[0045] Better, such as Figure 1 and Figure 4 As shown, both the first sealing membrane pressure ring 35 and the second sealing membrane pressure ring 36 have annular grooves 37. The damping sealing membrane 20 is bent outward to form a circumferentially convex outer ring 21. The outer ring 21 is located inside the annular groove 37 and is in close contact with the surface of the annular groove 37. The edge of the damping sealing membrane 20 with the outer ring 21 is in close contact with the surface of the annular groove 37, forming a closed sealing band. This avoids tiny gaps between the sealing contact surfaces, effectively preventing gas from seeping and leaking along the sealing edge, and ensuring the gas sealing and pressure stability within the chamber.

[0046] like Figure 4 As shown, the damping sealing membrane 20 is fixed in the form of an I-shaped double corrugated structure. It is made of a flexible material that is molded in one piece. This non-flat design is significantly different from the traditional planar sealing membrane. It can compensate for deformation by the expansion and contraction of the corrugations when the axial deformation occurs, which greatly reduces the actual stretching of the sealing membrane under large stroke conditions and still has good air tightness under large stroke displacement.

[0047] The wide-range actuator also includes a magnetic negative stiffness device, which provides passive negative stiffness to the wide-range actuator, thereby significantly reducing the dynamic stiffness of the wide-range actuator while ensuring its high load-bearing capacity.

[0048] like Figure 1 As shown, the magnetic negative stiffness device includes an attraction-type magnetic negative stiffness component 50 that generates an axial magnetic attraction force between the cylinder 10 and the piston tail plate 31, and a repulsion-type magnetic negative stiffness component 60 that generates an axial magnetic repulsion force between the cylinder 10 and the piston tail plate 31.

[0049] The attraction-type magnetic negative stiffness assembly 50 includes an attraction-type magnetic negative stiffness mover 51 and an attraction-type magnetic negative stiffness stator 52 arranged coaxially and oppositely. The attraction-type magnetic negative stiffness mover 51 is fixedly mounted on the piston tail plate 31, and the attraction-type magnetic negative stiffness stator 52 is fixedly mounted on the cylinder body 10. Both the attraction-type magnetic negative stiffness mover 51 and the attraction-type magnetic negative stiffness stator 52 are permanent magnets axially magnetized along their own central axis, and their opposite end faces are opposite polarity magnetic poles.

[0050] Specifically, the attraction-type magnetic negative stiffness mover 51 is connected to the piston tail plate 31 via a displacement bracket 53. The attraction-type magnetic negative stiffness mover 51 and the displacement bracket 53 are fixed together using structural adhesive. The adhesive interface has sufficient connection strength to prevent loosening, detachment, or relative slippage under disturbance and impact conditions. The displacement bracket 53 is fixed to the lower surface of the piston tail plate 31 with bolts. The attraction-type magnetic negative stiffness stator 52 is connected to the first cylinder body 11 via an end fixing flange 54. The attraction-type magnetic negative stiffness stator 52 and the end fixing flange 54 are also fixed together using structural adhesive. The adhesive interface has sufficient connection strength to prevent loosening, detachment, or relative slippage under disturbance and impact conditions. The end fixing flange 54 is fixed to the top surface of the first cylinder body 11 with screws. Both the attraction-type magnetic negative stiffness mover 51 and the attraction-type magnetic negative stiffness stator 52 are permanent magnets axially magnetized along their own central axis, and both are cylindrical tubes of the same size. The opposing end faces of the magnetic negative stiffness mover 51 and the magnetic negative stiffness stator 52 are opposite polarity magnetic poles to form an axial magnetic attraction between them; in a specific embodiment, the lower end of the magnetic negative stiffness mover 51 is the N pole and the upper end of the magnetic negative stiffness stator 52 is the S pole.

[0051] The repulsive magnetic negative stiffness assembly 60 includes a coaxial and nested repulsive magnetic negative stiffness mover 61 and a repulsive magnetic negative stiffness stator 62. The repulsive magnetic negative stiffness mover 61 is fixedly mounted on the piston tail plate 31, and the repulsive magnetic negative stiffness stator 62 is fixedly mounted on the cylinder body 10 and extends axially into the repulsive magnetic negative stiffness mover 61. Both the repulsive magnetic negative stiffness mover 61 and the repulsive magnetic negative stiffness stator 62 are permanent magnets that are axially magnetized along their own central axis, and their common end faces are opposite polarity magnetic poles.

[0052] Specifically, a slot is provided on the lower bottom surface of the piston tail plate 31. The upper end of the repulsive magnetic negative stiffness mover 61 is fixed in this slot by structural adhesive. The adhesive interface has sufficient connection strength to prevent loosening, detachment, or relative slippage under disturbance and impact conditions. A magnet guide rod 63 is bolted to the lower end of the repulsive magnetic negative stiffness stator 62. The magnet guide rod 63 is coaxially inserted into the inner hole of the repulsive magnetic negative stiffness mover 61. A slot is also provided on the top surface of the first cylinder 11. The lower end of the magnet guide rod 63 is fixed in this slot by structural adhesive. The adhesive interface has sufficient connection strength to prevent loosening, detachment, or relative slippage under disturbance and impact conditions. The magnet guide rod 63 is used to guide the axial position of the repulsive magnetic negative stiffness stator 62. Both the repulsive magnetic negative stiffness mover 61 and the repulsive magnetic negative stiffness stator 62 are permanent magnets axially magnetized along their own central axis. The repulsive magnetic negative stiffness mover 61 is a cylindrical tube, and the repulsive magnetic negative stiffness stator 62 is a cylinder with an outer diameter smaller than that of the repulsive magnetic negative stiffness mover 61. The same end faces of the repulsive magnetic negative stiffness mover 61 and the repulsive magnetic negative stiffness stator 62 are opposite polarity magnetic poles, so as to form an axial magnetic repulsion force between them, so that the repulsive magnetic negative stiffness stator 62 is suspended in a preset equilibrium position in the inner cavity of the repulsive magnetic negative stiffness mover 61. In a specific embodiment, the upper end of the repulsive magnetic negative stiffness mover 61 is the N pole and the lower end is the S pole, and the upper end of the repulsive magnetic negative stiffness stator 62 is the S pole and the lower end is the N pole.

[0053] Preferably, a second limiting member 64 is also fixed on the lower bottom surface of the piston tail plate 31, which can abut against the repulsive magnetic negative stiffness stator 62. The second limiting member 64 is used for the downward movement stroke of the repulsive magnetic negative stiffness stator 62.

[0054] Preferably, a plurality of attraction-type magnetic negative stiffness components 50 and a plurality of repulsion-type magnetic negative stiffness components 60 are provided between the piston tail plate 31 and the first cylinder 11, and the plurality of attraction-type magnetic negative stiffness components 50 and repulsion-type magnetic negative stiffness components 60 are evenly and alternately distributed circumferentially and are all located on the same circumference with the axis of the main shaft 30 as the center. In this embodiment, as Figure 1 and Figure 5 As shown, three attraction-type magnetic negative stiffness components 50 and three repulsion-type magnetic negative stiffness components 60 are provided between the piston tail plate 31 and the first cylinder 11. The three attraction-type magnetic negative stiffness components 50 and the three repulsion-type magnetic negative stiffness components 60 are evenly distributed circumferentially at 120° intervals. Through geometric symmetry design, the radial displacement of the magnet can be constrained, so that the magnet always stays on the central axis, avoiding eccentricity and tilting, and ensuring the coaxiality of the wide-range actuator during long-term operation.

[0055] According to one embodiment of this application, such as Figures 1 to 3As shown, the magnetic-pneumatic composite wide-range actuator also includes a displacement sensor 70, a pressure sensor 71, and a speed sensor 72; the displacement sensor 70 is connected between the cylinder 10 and the piston tail plate 31 to collect the displacement signal when the main shaft 30 moves in the axial direction; the pressure sensor 71 is provided on the side wall of the cylinder 10 to collect the pressure signal in the first chamber 13 and the second chamber 14; the speed sensor 72 is provided on the piston tail plate 31 to obtain the speed signal when the main shaft 30 moves in the axial direction.

[0056] Furthermore, a small guide bearing 73 is provided on the side of the piston tail plate 31 facing the cylinder body 10, and an optical shaft 74 passes through the small guide bearing 73. One end of the optical shaft 74 is fixed to the outer wall of the cylinder body 10; in this embodiment, as Figure 5 As shown, the displacement sensor 70, the speed sensor 72, and the small guide bearing 73 are evenly distributed circumferentially at intervals of 120° and are all located on the same circumference with the axis of the main shaft 30 as the center.

[0057] Specifically, such as Figure 1 As shown, the displacement sensor 70 is mounted on the piston tail plate 31 and abuts against the top surface of the first cylinder 11. It is used to collect displacement signals when the main shaft 30 moves axially. The displacement sensor 70 is coaxially mounted with one of the attraction-type magnetic negative stiffness components 50. Figure 2 As shown, the speed sensor 72 is fixedly mounted on the lower end face of the piston tail plate 31. It is used to collect the speed signal when the main shaft 30 moves in the axial direction to control the movement of the electromagnetic actuator 40. The speed sensor 72 is coaxially arranged with one of the attraction-type magnetic negative stiffness components 50. Figure 3 As shown, the small guide bearing 73 is fixedly mounted on the lower end face of the piston tail plate 31, and the lower end of the optical shaft 74 is fixedly mounted on the top surface of the first cylinder 11 and coaxially arranged with the small guide bearing 73. The upper end of the optical shaft 74 passes through the small guide bearing 73, and the optical shaft 74 is coaxially arranged with one of the attraction-type magnetic negative stiffness components 50. Figures 1 to 3 As shown, the displacement sensor 70, the velocity sensor 72, and the small guide bearing 73 are integrated with three attraction-type magnetic negative stiffness components 50 to ensure the geometric symmetry of the wide-range actuator.

[0058] like Figure 5As shown, this is a bottom view of the piston tail plate 31. The piston tail plate 31 has a first mounting hole 311, a second mounting hole 312, a third mounting hole 315, and a fourth mounting hole 318. The first mounting hole 311 is for assembling the displacement sensor 70, in which an attraction-type magnetic negative stiffness mover 51 is coaxially assembled with the displacement sensor 70. This mounting position can provide a certain guiding effect on the attraction-type magnetic negative stiffness mover 51. The second mounting hole 312, the third mounting hole 315, and the fourth mounting hole 318 are all countersunk holes and are all used to fix the displacement holder 53. The displacement holders 53 fixed by the third mounting hole 315 and the fourth mounting hole 318 have the same shape and size. Figure 3 and Figure 5 As shown, the piston tail plate 31 is also provided with a first step 316, which is used to allow the optical axis 74 to move up and down. At the same time, the second attraction-type magnetic negative stiffness mover 51 is coaxially assembled with the small guide bearing 73. Figure 2 and Figure 5 As shown, a second step 317 is also provided on the piston tail plate 31. The second step 317 is used to install the speed sensor 72. The diameter of the speed sensor 72 is slightly smaller than the inner diameter of the third attraction-type magnetic negative stiffness mover 51 coaxially mounted with it. Figure 1 and Figure 5 As shown, the piston tail plate 31 is also provided with a third step 313, which is used to install the repulsive magnetic negative stiffness mover 61. In addition, the piston tail plate 31 is also provided with a threaded hole 314 for transferring the external load 80.

[0059] Furthermore, such as Figure 1 As shown, to achieve independent air supply, exhaust, and pressure monitoring, the first chamber 13 has a first air port 15 and a second air port 16 on its side wall for air intake / exhaust and pressure monitoring. The second chamber 14 has a third air port 17 and a fourth air port 18 on its side wall for air intake / exhaust and pressure monitoring. Pressure sensors 71 are installed in both the second air port 16 and the fourth air port 18. In use, the first air port 15 and the second air port 16 form a complementary dual-channel system. One air port serves as an intake / exhaust channel for chamber pressure regulation, while the other air port acts as a pressure monitoring interface for connecting the pressure sensor to collect real-time pressure data from the first chamber 13. Similarly, the third air port 17 and the fourth air port 18 also form a complementary dual-channel system. One air port is used for controlling the filling and discharging of the second chamber 14, while the other air port is used for real-time monitoring of the pressure status of the second chamber 14. By setting independent inflation / deflation channels and monitoring channels in each chamber, precise decoupling and independent control of the dual-chamber air pressure are achieved, effectively improving the actuator's pressure response speed and adjustment accuracy under a wide range of operating conditions.

[0060] According to one embodiment of this application, such as Figure 1As shown, the second cylinder 12 is also provided with a mounting hole for installing an electrical feeder element 75, and the electrical feeder element 75 is installed in the mounting hole.

[0061] According to one embodiment of this application, the linear domain of the magnetic negative stiffness device is greater than 80% of the wide-range actuator stroke.

[0062] According to one embodiment of this application, the distance between the repulsive magnetic negative stiffness stator 62 and the second limiting member 64 is about 10 mm, the distance between the electromagnetic actuator mover 42 and the first limiting member 45 is also about 10 mm, the distance between the attractive magnetic negative stiffness mover 51 and the attractive magnetic negative stiffness stator 52 is greater than 10 mm, and the distance between the first sealing membrane pressure ring 35 and the second sealing membrane pressure ring 36 is also greater than 10 mm.

[0063] According to one embodiment of this application, the overall stroke range of the wide-range actuator can be increased as needed, increasing the distance between the electromagnetic actuator mover 42 and the electromagnetic actuator stator 41 in the initial position state, and simultaneously changing parameters such as the height of the first cylinder 11, the height of the second cylinder 12, the length of the main shaft 30, and the thickness and elastic modulus of the rubber diaphragm 19.

[0064] It should be noted that the magnetic-gas composite wide-range actuator described in this application is not limited to single use, but can be used in combination. Combined with corresponding control methods, it can meet the needs of wide-range actuation with multiple degrees of freedom and enhanced pointing accuracy.

[0065] Implementation Method Two: This application also provides a pointing accuracy enhancement platform, such as Figure 6 and Figure 7 As shown, it includes: a plurality of magnetic-gas composite wide-range actuators as described in Embodiment 1, with both ends of each wide-range actuator hinged to an external load 80 and an external motor platform 81, respectively; and a controller connected to the wide-range actuators, which is used to control each wide-range actuator to achieve enhanced pointing accuracy of the optoelectronic device with multiple degrees of freedom.

[0066] The specific structure and technical effects of the magnetic-gas composite wide-range actuator have been described in detail in Implementation Method 1, and will not be repeated here.

[0067] like Figure 6As shown, this is a specific embodiment of the pointing accuracy enhancement platform provided in this application. The pointing accuracy enhancement platform in this embodiment is constructed from six magnetic-pneumatic composite wide-range actuators in a Stewart configuration. The six actuators are connected between two platforms at a set angle. The two platforms are the external load 80 and the external motion platform 81, respectively. Real-time three-axis angular acceleration and acceleration information are obtained through inertial sensors installed on the upper and lower platforms. The controller calculates the relative attitude of the actuators in real time through the corresponding algorithm. The position information of the connection points of the wide-range actuators is solved through the Jacobian matrix of the platform kinematic model. The multi-degree-of-freedom control is decoupled into single-degree-of-freedom control of each wide-range actuator. The high-performance wide-range dynamic response adjustment and attitude stabilization effect are achieved through relative displacement feedback, which meets the requirements of multi-degree-of-freedom pointing accuracy enhancement under heavy load.

[0068] like Figure 7 As shown, this is another specific embodiment of the pointing accuracy enhancement platform provided in this application. In this embodiment, the pointing accuracy enhancement platform is constructed from eight magnetic-aerodynamic composite wide-range actuators in a decoupled distributed configuration. The eight actuators are connected between two upper and lower platforms at predetermined angles. The central axes of two adjacent magnetic-aerodynamic composite wide-range actuators positioned between the upper and lower platforms are perpendicular to each other. The upper and lower platforms are respectively the external load 80 and the external motion platform 81. This type of pointing accuracy enhancement platform can also achieve the same function as in the above embodiment, that is, decoupling multi-degree-of-freedom control into single-degree-of-freedom control of each wide-range actuator. Through relative displacement feedback, it achieves high-performance wide-range dynamic response adjustment and attitude stabilization, meeting the requirements for multi-degree-of-freedom pointing accuracy enhancement under heavy loads.

[0069] It should be noted that the configurations used in combination of multiple magnetic-gas composite wide-range actuators are not limited to the two configurations mentioned above.

[0070] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0071] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0073] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0074] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wide-range actuator combining magnetic and pneumatic components, characterized in that, include: The cylinder (10) has a deformable rubber membrane (19) in the middle, which divides the space inside the cylinder (10) into a first chamber (13) and a second chamber (14) with variable space size along the axial direction. A main shaft (30) is located in the first chamber (13). One end of the main shaft (30) extends upward from the side wall of the first chamber (13) away from the rubber diaphragm (19) and is connected to a piston tail plate (31). The other end of the main shaft (30) is connected to a first adapter flange (32). A main guide bearing (33) is sleeved on the main shaft (30). One end of the main guide bearing (33) is fixed to the side wall of the first chamber (13). A deformable damping sealing diaphragm (20) is sleeved on the main shaft (30), and the two ends of the damping sealing diaphragm (20) along the axial direction of the main shaft (30) are respectively sealed to the ends of the first transition flange (32) and the main directional bearing (33); An electromagnetic actuator (40) is located in the second chamber (14). The electromagnetic actuator (40) includes an electromagnetic actuator stator (41) and an electromagnetic actuator mover (42) coaxially sleeved. The electromagnetic actuator stator (41) is fixed on the inner wall of the second chamber (14) away from the rubber diaphragm (19). The end of the electromagnetic actuator mover (42) away from the electromagnetic actuator stator (41) is connected to a second transition flange (44). The first transition flange (32) and the second transition flange (44) clamp the rubber diaphragm (19) and are fixedly connected. A magnetic negative stiffness device is located between the outer wall of the cylinder (10) and the piston tail plate (31). The magnetic negative stiffness device includes an attraction-type magnetic negative stiffness component (50) that generates an axial magnetic attraction force between the cylinder (10) and the piston tail plate (31), and a repulsion-type magnetic negative stiffness component (60) that generates an axial magnetic repulsion force between the cylinder (10) and the piston tail plate (31).

2. The wide-range magnetic-gas composite actuator according to claim 1, characterized in that, A sealing diaphragm support (34) is fitted around the outer periphery of the main bearing (33). One end of the sealing diaphragm support (34) is fixed to the inner wall of the first chamber (13) away from the rubber diaphragm (19). One end of the damping sealing diaphragm (20) is sealed and fixed to the other end of the sealing diaphragm support (34) by a first sealing diaphragm pressure ring (35). The other end of the damping sealing diaphragm (20) is sealed and fixed to the first transition flange (32) by a second sealing diaphragm pressure ring (36). Preferably, the first sealing membrane pressure ring (35) and / or the second sealing membrane pressure ring (36) are provided with an annular groove (37), and the damping sealing membrane (20) is formed by bending outward to form a circumferentially convex outer ring (21), the outer ring (21) is located in the annular groove (37) and is in close compression contact with the surface of the annular groove (37).

3. The wide-range magnetic-gas composite actuator according to claim 1, characterized in that, The attraction-type magnetic negative stiffness assembly (50) includes a coaxial and oppositely arranged attraction-type magnetic negative stiffness mover (51) and attraction-type magnetic negative stiffness stator (52). The attraction-type magnetic negative stiffness mover (51) is fixedly installed on the piston tail plate (31), and the attraction-type magnetic negative stiffness stator (52) is fixedly installed on the cylinder body (10). Both the attraction-type magnetic negative stiffness mover (51) and the attraction-type magnetic negative stiffness stator (52) are permanent magnets axially magnetized along their own central axis, and their opposite end faces are opposite polarity magnetic poles. The repulsive magnetic negative stiffness assembly (60) includes a coaxial and nested repulsive magnetic negative stiffness mover (61) and a repulsive magnetic negative stiffness stator (62). The repulsive magnetic negative stiffness mover (61) is fixedly mounted on the piston tail plate (31), and the repulsive magnetic negative stiffness stator (62) is fixedly mounted on the cylinder (10) and extends axially into the repulsive magnetic negative stiffness mover (61). Both the repulsive magnetic negative stiffness mover (61) and the repulsive magnetic negative stiffness stator (62) are permanent magnets axially magnetized along their own central axis, and their common end faces are opposite polarity magnetic poles.

4. The wide-range magnetic-gas composite actuator according to claim 3, characterized in that, Multiple attraction-type magnetic negative stiffness components (50) and multiple repulsion-type magnetic negative stiffness components (60) are evenly distributed alternately along the circumference and are all located on the same circumference with the axis of the main shaft (30) as the center; Preferably, the three attraction-type magnetic negative stiffness components (50) and the three repulsion-type magnetic negative stiffness components (60) are evenly distributed circumferentially at intervals of 120°.

5. The wide-range magnetic-gas composite actuator according to claim 3, characterized in that, The attraction-type magnetic negative stiffness stator (52) and the attraction-type magnetic negative stiffness mover (51) are cylindrical tubes of the same size; The repulsive magnetic negative stiffness mover (61) is a cylindrical tube, and the repulsive magnetic negative stiffness stator (62) is a cylinder with an outer diameter smaller than that of the repulsive magnetic negative stiffness mover (61). The cylinder is fixedly installed on the cylinder body (10) by a magnet guide rod (63).

6. The wide-range magnetic-gas composite actuator according to claim 1, characterized in that, The magnetic-pneumatic composite wide-range actuator further includes a displacement sensor (70), a pressure sensor (71), and a speed sensor (72); the displacement sensor (70) is connected between the cylinder (10) and the piston tail plate (31) to collect the displacement signal when the main shaft (30) moves in the axial direction; the pressure sensor (71) is disposed on the side wall of the cylinder (10) to collect the pressure signal in the first chamber (13) and the second chamber (14); the speed sensor (72) is disposed on the piston tail plate (31) to obtain the speed signal when the main shaft (30) moves in the axial direction; Preferably, a small guide bearing (73) is provided on the side of the piston tail plate (31) facing the cylinder (10), and an optical shaft (74) is inserted inside the small guide bearing (73), with one end of the optical shaft (74) fixed on the outer wall of the cylinder (10). Preferably, the displacement sensor (70), the speed sensor (72), and the small guide bearing (73) are evenly distributed circumferentially at 120° intervals and are all located on the same circumference with the axis of the main shaft (30) as the center.

7. The wide-range magnetic-gas composite actuator according to claim 1, characterized in that, The linear domain of the magnetic negative stiffness device is greater than 80% of the stroke of the wide-range actuator.

8. The wide-range magnetic-gas composite actuator according to claim 1, characterized in that, The cylinder (10) includes a first cylinder (11) and a second cylinder (12) that are connected and sealed along an axis. The periphery of the rubber membrane (19) is clamped and fixed between the first cylinder (11) and the second cylinder (12). The rubber membrane (19) seals the first cylinder (11) to form the first chamber (13) and seals the second cylinder (12) to form the second chamber (14). Preferably, when the spindle (30) is in a preset equilibrium position, the first chamber (13) and the second chamber (14) have the same volume.

9. The wide-range magnetic-gas composite actuator according to claim 6, characterized in that, The first chamber (13) has a first air hole (15) and a second air hole (16) on its side wall for air intake and air intake and for monitoring air pressure, respectively. The second chamber (14) has a third air hole (17) and a fourth air hole (18) on its side wall for air intake and air intake and for monitoring air pressure, respectively. The air pressure sensor (71) is installed in both the second air hole (16) and the fourth air hole (18).

10. A pointing accuracy enhancement platform, characterized in that, include: The magnetic-pneumatic composite wide-range actuator according to any one of claims 1 to 9, wherein the two ends of each wide-range actuator are respectively hinged to an external load (80) and an external motor platform (81). A controller connected to the wide-range actuators, the controller being used to control each of the wide-range actuators individually to achieve enhanced pointing accuracy with multiple degrees of freedom.

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