Lopsided payload carriage gimbal for air and water-borne vehicles

Abstract

The Lopsided Payload Carriage Gimbal in all its embodiments allow Aerial Vehicles and Water-borne vehicles to carry payloads far from the vehicle Geometric Center without significant travel of the vehicle's overall Center of Gravity. Large travel of the CG limits vehicle's performance or renders it inoperable. The embodiments rely on the interaction of the payload and the counter balancing weight through the payload link 18, balancing link 10 main link 14 and battery pylon 8 to substantially reduce the torque generated by the payload in a lopsided position. The embodiments also allow the vehicle carrying the payload to change thrust direction agilely. Finally, the embodiment acts as a mechanical stabilization device for the payload as well. This invention is adaptable to all forms of hover-capable aerial vehicles as well as water-borne vehicles

I claim: 
     
         1 . A device for carrying lopsided loads such that the travel of Center of Gravity of the device and the vehicle the said device is attached to is restricted to the vicinity of the carrying vehicle's Geometric Center, such that the load is stabilized, such that the load can pivotally change orientation independent of vehicle movement, comprising:
 a. A series of four linkages in a polygonal arrangement, pivotally linked and contiguous to each other at four pivots.   b. A payload mounting device attached anywhere along one of the linkages   c. A counter balance weight attached to any one of the linkages   d. Any number of sets of parallel linkages sharing identical pivots   
     
     
         2 . A device for maintaining orientation of the payload attached to a linkage capable of changing orientation pivotally, comprising:
 a. A linkage parallel to the said link, such that it maintains parallelism with the said link, such that it has the identical length as the said link.   b. A payload mount that is pivotally attached to the said link, and that is pivotally attached to the said parallel linkage.   
     
     
         3 . A device for shifting the position of a load comprising:
 a. A rotary or linear actuation force generation device   b. At least one guide track   c. A mounting device attaching the counter weight to the said guide track