Gimbals are pivotal mechanisms that enable rotation around an axis, oftentimes nested within each other to allow rotation irrespective of the support. These devices are highly versatile, finding uses in various sectors such as aerospace, defense, and maritime industries where they can serve as mounts for turrets or as devices to keep objects aligned with the horizon.

Figure 1: Three-axis gimbal diagram. Source: SVJO/CC BY-SA 4.0

This functionality has been extended into everyday items enhancing user experience. Take gyroscope-based toys that utilize gimbals for independent rotational characteristics, or drink holders structured with gimbals to keep beverages level and avoid spills even in moving vehicles. Gimbals also find use in stove burners to maintain an upright flame irrespective of the orientation or angle of the cooking vessel, thereby improving safety and efficiency. 

Configurations

Single-Axis

These are the simplest type of gimbal, offering rotation around only one axis. Their strength lies in their simplicity, often resulting in a more cost-effective and less maintenance-intensive solution. However, the downside to these gimbals is their limited degree of freedom, providing stabilization in only one plane. This makes them well-suited to simple applications where this level of stabilization is adequate, such as in compasses or leveling devices.

Two-Axis

This configuration adds an extra layer of complexity, allowing rotation around two different axes. This gives them an advantage over single-axis gimbals, providing more comprehensive stabilization. While they are still relatively straightforward and cost-effective, they do not offer full three-dimensional stabilization, which may be a limitation in some applications. These gimbals are typically used in situations that require a bit more flexibility but do not necessitate full 3D rotation, like in some camera stabilization systems that need to correct tilt and roll.

Three-Axis

These gimbals are the most advanced, enabling rotation around three different axes: pitch, yaw, and roll. Their ability to provide full 3D rotation makes them the most versatile, capable of maintaining stability in any direction. However, they are also the most complex and usually the most expensive. Despite this, their broad range of motion makes them the go-to choice for high-end camera stabilization systems, drones, and aerospace applications, where maximum stabilization is essential.

Handheld

Figure 2: Handheld gimbal. Source: Mayank chachra/CC BY-SA 4.0

These gimbals are specifically designed for manual operation, typically stabilizing cameras and smartphones. Their advantage lies in their portability and ease of use, making them a popular choice for photographers and videographers. However, they may not offer the same level of stabilization as larger, more sophisticated gimbals. Despite this, they are perfect for situations where mobility is key, like capturing smooth footage while moving.

Drone

Figure 3: Drone-mounted gimbal. Source: Pixabay

Drone gimbals are tailored to work with drones, stabilizing cameras for aerial photography and videography. Their strength is their ability to provide stable footage despite the drone's movement. However, their performance can be affected by factors like wind and drone stability. Despite these challenges, they are indispensable for any serious drone photography or videography application.

Vehicle-Mounted

Figure 4: Vehicle-mounted gimbal. Source: Max Ravier/Pexels

These are designed to be attached to vehicles like cars, boats, or aircraft. They excel in keeping cameras, antennas, and other equipment stable, even with the vehicle in motion. Their main disadvantage is that they may be more challenging to install and require more maintenance. Nevertheless, they shine in applications where the stabilization of equipment on a moving vehicle is required.

Components

The design and components of a gimbal can vary depending on its purpose and the specific requirements of the system it is being integrated into. A typical gimbal system is commonly composed of several key components, each with its own specific purpose.

Rings/Yokes

These are the main structures of a gimbal system. Usually, there are up to three rings or yokes nested inside each other, each designed to rotate around a specific axis (pitch, yaw, and roll). The outer ring is often attached to the stationary object (like a drone or a camera mount), the middle ring rotates around the pitch axis, and the innermost ring (often carrying the payload) rotates around the roll axis. Each ring's rotation is independent of the others, enabling unrestricted movement in any direction.

Motors

These are the driving force of electrically controlled gimbals. They are responsible for the precise movements of the yokes. High-quality gimbals often use brushless motors for their high efficiency, lower noise, and longer lifespan.

Controller

The controller uses sensor data to determine the position and orientation of the gimbal, then sends commands to the motors to correct any deviations from the desired orientation. The controller can interface with external devices to receive specific orientation instructions or to deliver information about the gimbal's current position.

Sensors

Typically gyroscopes and accelerometers, these devices measure the angle, speed, and direction of the gimbal's movement. This data is sent to the controller to inform adjustments to maintain stability.

Payload

Figure 5: Marine chronometer. Source: Mourn the Gorn/CC BY-SA 3.0

This refers to the device or object that the gimbal is designed to hold and move. It could be a camera, a compass, a sensor, a mirror, or any other object that needs to be stabilized or oriented in a particular way. The payload is usually attached to the innermost yoke.

Mounting system

Depending on the application, the gimbal could be mounted on a variety of systems. This could include drones, handheld devices, tripod stands, vehicles, or even satellites. The mounting system holds the entire gimbal structure and connects it with the base object.

Power Source

Gimbals require a power source to operate the motors and the controller. This could be a direct power source in larger, stationary systems, or batteries in portable devices.

Material

Gimbals can be made from a variety of materials, largely depending on the specific requirements of their intended application, such as durability, weight, cost, and the need for precision. 

Aluminum

One of the most popular materials for gimbals, aluminum is lightweight yet strong. It is often used in applications where weight is a crucial factor, such as drone gimbals or handheld gimbals for cameras. Aluminum is also resistant to corrosion, which is beneficial for maritime and other outdoor applications.

Steel

While heavier than aluminum, steel is used when a higher level of durability and strength is required. Steel gimbals may be used in industrial applications or in environments where the gimbal needs to withstand substantial stress or loads.

Plastic

Plastic gimbals are generally lighter and less expensive than metal ones, but they typically do not offer the same level of durability or precision. They may be used in low-cost consumer products or in applications where high precision is not necessary.

Carbon Fiber

For high-end applications where weight and strength are both important factors, carbon fiber is a popular choice. Carbon fiber gimbals are lightweight, strong, and resistant to corrosion. They're commonly used in professional-grade camera gimbals and in aerospace applications.

Brass or Copper

Some specialty gimbals, such as those used in marine chronometers or other precision instruments, might be made from brass or copper. These materials are durable and resistant to corrosion, but they are heavier than aluminum or carbon fiber.

Applications

Gimbals find a broad array of applications across various industries. Their unique mechanism of enabling objects to rotate freely around one or more axes makes them a pivotal component in numerous fields.

Aerospace and Defense

In this sector, gimbals are heavily used in guidance systems for aircraft, missiles, and satellites. They can provide stable platforms for radar systems, weapon systems, or imaging devices, allowing them to maintain orientation regardless of the motion of the aircraft or vehicle. Gimbals are also used in inertial measurement units (IMUs) to provide accurate motion-tracking data.

Maritime Industry

Similar to aerospace applications, gimbals can be used in various maritime applications such as stabilizing antennas, radars, and other equipment on ships. Given the movement of the ship, the gimbal can help maintain the orientation of these devices, ensuring optimal operation.

Photography and Filmmaking

Gimbals are widely used to stabilize cameras for photography and videography. This allows for the capture of smooth and stable footage, even while the operator is in motion. Drones used for aerial photography and videography often have gimbals to stabilize the camera.

Robotics and Automation

In robotics, gimbals can be used to provide movement and stability to robotic arms or to hold sensors that need to maintain a particular orientation. In automated manufacturing processes, gimbals are used to guide lasers or other tools.

Telecommunications

Gimbals are used to stabilize antennas in communication systems. By using a gimbal system, the antenna can maintain its orientation toward the satellite, ensuring consistent communication even in challenging conditions.

Surveying and Geomatics

In industries involving geomatics and surveying, gimbals can be used to hold and stabilize instruments like GPS receivers and lidar sensors. These instruments can collect more accurate data when stabilized.

Medical Industry

Gimbals can be used in various medical applications, such as stabilizing surgical instruments during minimally invasive surgeries or guiding lasers in ophthalmic procedures.

History

The concept of gimbals dates back thousands of years, with the earliest known use of a gimbal found in ancient Greece. However, the device has evolved significantly over the centuries, finding new applications in various industries.

Ancient Greece (3rd Century BC): The earliest known instance of a gimbal-like device comes from an invention by the Greek engineer Philo of Byzantium. He devised an inkpot with a mechanism that could keep the ink level, no matter how much the ship on which it was used rolled.

Han Dynasty China (2nd Century BC): Chinese inventors created an early form of gimbal known as the "south-pointing chariot," a two-wheel vehicle with a mechanism designed to maintain a figure pointing southwards regardless of the chariot's movement.

Renaissance Europe (16th Century): Italian mathematician and physicist Gerolamo Cardano described the gimbal mechanism in detail, leading to the device sometimes being called a 'Cardan' suspension or gimbal.

Modern Times (19th to 21st Century): Gimbals found their place in a variety of applications in modern times. They were used to stabilize marine chronometers (precision timekeeping devices) in the 19th century. In the 20th and 21st centuries, their use expanded into fields like filmmaking, aerospace, and telecommunications. Today, gimbals are used to stabilize everything from cameras on drones to scientific instruments on spacecraft, demonstrating their wide-ranging utility.

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