Multi-arm gimbal system
First Claim
Patent Images
1. A gimbal support apparatus comprising:
- a gimbal having;
a first gimbal arm rotationally connected to a payload support about a first axis via a first rotation connection device;
a second gimbal arm having a first end and a second end, the second gimbal arm rotationally connected to the first gimbal arm about a second axis via a second rotation connection device at the first end of the second gimbal arm;
the second gimbal arm configured at the second end to be rotationally connected about a third axis to an equipoising support arm via a third rotation connection device; and
an adjustment system to selectively bias a hanging resting position of a payload supported by the payload support;
wherein the adjustment system comprises components to adjust the positions of the first axis, second axis and the third axis each with respect to one another including;
the first rotation connection device adjustably attached to the first gimbal arm along at least a portion of a length of the first gimbal arm, wherein a direction of adjustment of the first rotation connection device is not coincident with the first axis of rotation;
the second rotation connection device adjustably attached to the first gimbal arm along at least a portion of the length of the first gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the first gimbal arm is not coincident with the second axis of rotation;
the second rotation connection device further adjustably attached to the second gimbal arm along at least a portion of a length of the second gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the second gimbal arm is not coincident with the second axis of rotation; and
the third rotation connection device adjustably attached to the second gimbal arm along at least a portion of the length of the second gimbal arm, wherein a direction of adjustment of the third rotation connection device is not coincident with the third axis of rotation.
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Abstract
The invention provides a gimbal support apparatus to support tools or other payloads for use during performance of tasks using those payloads. The payload can be selectively biased to achieve an optimum position for performance of the task. The gimbal support apparatus comprises rotationally connected gimbal arms that can be adjusted with respect to one another and to an equipoising support arm to attain the selected payload bias.
105 Citations
25 Claims
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1. A gimbal support apparatus comprising:
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a gimbal having; a first gimbal arm rotationally connected to a payload support about a first axis via a first rotation connection device; a second gimbal arm having a first end and a second end, the second gimbal arm rotationally connected to the first gimbal arm about a second axis via a second rotation connection device at the first end of the second gimbal arm; the second gimbal arm configured at the second end to be rotationally connected about a third axis to an equipoising support arm via a third rotation connection device; and an adjustment system to selectively bias a hanging resting position of a payload supported by the payload support; wherein the adjustment system comprises components to adjust the positions of the first axis, second axis and the third axis each with respect to one another including; the first rotation connection device adjustably attached to the first gimbal arm along at least a portion of a length of the first gimbal arm, wherein a direction of adjustment of the first rotation connection device is not coincident with the first axis of rotation; the second rotation connection device adjustably attached to the first gimbal arm along at least a portion of the length of the first gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the first gimbal arm is not coincident with the second axis of rotation; the second rotation connection device further adjustably attached to the second gimbal arm along at least a portion of a length of the second gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the second gimbal arm is not coincident with the second axis of rotation; and the third rotation connection device adjustably attached to the second gimbal arm along at least a portion of the length of the second gimbal arm, wherein a direction of adjustment of the third rotation connection device is not coincident with the third axis of rotation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A gimbal support apparatus comprising:
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a first gimbal arm rotationally connected to a payload support about a first axis via a first rotation connection device; a second gimbal arm having a first end and a second end, the second gimbal arm rotationally connected to the first gimbal arm about a second axis via a second rotation connection device at the first end of the second gimbal arm; the second gimbal arm configured at the second end to be rotationally connected about a third axis to an equipoising support arm via a third rotation connection device; and an adjustment system to selectively bias a resting position of a payload supported by the payload support; wherein the adjustment system comprises components to adjust positions of the first axis, second axis and the third axis each with respect to one another including; the first rotation connection device adjustably attached to the first gimbal arm along at least a portion of a length of the first gimbal arm, wherein a direction of adjustment of the first rotation connection device is not coincident with the first axis of rotation; the second rotation connection device adjustably attached to the first gimbal arm along at least a portion of the length of the first gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the first gimbal arm is not coincident with the second axis of rotation; the second rotation connection device further adjustably attached to the second gimbal arm along at least a portion of a length of the second gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the second gimbal arm is not coincident with the second axis of rotation; the third rotation connection device adjustably attached to the second gimbal arm along at least a portion of the length of the second gimbal arm, wherein a direction of adjustment of the third rotation connection device is not coincident with the third axis of rotation; and at least one rotation limiting device that is a rotational motion inhibitor comprising at least one torsion spring disposed at at least one rotational intersection of the first or second gimbal arm configured to provide a balancing torsion force.
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25. A gimbal support apparatus comprising:
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a first gimbal arm rotationally connected to a payload support about a first axis via a first rotation connection device; a second gimbal arm having a first end and a second end, the second gimbal arm rotationally connected to the first gimbal arm about a second axis via a second rotation connection device at the first end of the second gimbal arm; the second gimbal arm configured at the second end to be rotationally connected about a third axis to an equipoising support arm via a third rotation connection device; and an adjustment system to selectively bias a resting position of a payload supported by the payload support; wherein the adjustment system comprises components to adjust the positions of the first axis, second axis and the third axis each with respect to one another including; the first rotation connection device adjustably attached to the first gimbal arm along at least a portion of a length of the first gimbal arm, wherein a direction of adjustment of the first rotation connection device is not coincident with the first axis of rotation; the second rotation connection device adjustably attached to the first gimbal arm along at least a portion of the length of the first gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the first gimbal arm is not coincident with the second axis of rotation; the second rotation connection device further adjustably attached to the second gimbal arm along at least a portion of a length of the second gimbal arm, wherein a direction of adjustment of the second rotation connection device relative to the second gimbal arm is not coincident with the second axis of rotation; the third rotation connection device adjustably attached to the second gimbal arm along at least a portion of the length of the second gimbal arm, wherein a direction of adjustment of the third rotation connection device is not coincident with the third axis of rotation; and wherein at least one of the first gimbal arm and the second gimbal arm has at least one flat side and an associated rotational connection device has a complimentary flat surface.
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Specification