US Patent 10558110 Gimbal having parallel stability mechanism

A gimbal mechanism includes a first actuator providing rotation about a first actuator axis, a second actuator providing rotation about a second actuator axis different from the first actuator axis, a first coupler operatively coupling the first actuator and a payload and being configured to affect rotation of the payload about the first actuator axis, and a second coupler operatively coupling the second actuator and the payload and being configured to affect rotation of the payload about the second actuator axis. The first actuator and the second actuator are fixed in position and orientation relative to one another and relative to a support structure. The support structure is configured to support at least one of the first actuator or the second actuator.