Payload mounting platform

Abstract

An apparatus for supporting a payload includes a payload mount configured to be coupled to the payload to secure the payload, a first support member coupled to the payload mount, a second support member coupled to the first support member, and a single flexible member. The first support member includes a first actuation unit configured to rotate the payload mount around a first rotational axis relative to the first support member. The second support member includes a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member. The single flexible member includes a branched configuration and is configured to be electrically coupled to the payload mount, the first actuation unit, and the second actuation unit. The first support member or the second support member includes a winding portion configured to engage the single flexible member.

What is claimed is: 
     
         1 . An apparatus for supporting a payload, the apparatus comprising:
 a payload mount configured to be coupled to the payload to secure the payload;   a first support member coupled to the payload mount, wherein the first support member comprises a first actuation unit configured to rotate the payload mount around a first rotational axis relative to the first support member;   a second support member coupled to the first support member, wherein the second support member comprises a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member; and   a single flexible member comprising a branched configuration and configured to be electrically coupled to the payload mount, the first actuation unit, and the second actuation unit, wherein the first support member or the second support member comprises a winding portion configured to engage the single flexible member.   
     
     
         2 . The apparatus of  claim 1 , wherein a perimeter of the winding portion is selected based on a minimum bending radius of the single flexible member, and the minimum bending radius is associated with material properties of the single flexible member. 
     
     
         3 . The apparatus of  claim 1 , wherein the winding portion comprises at least a cavity, and the cavity is configured to receive at least a portion of the single flexible member when the payload mount is rotated around the first rotational axis or when the first support member is rotated around the second rotational axis. 
     
     
         4 . The apparatus of  claim 3 , wherein the winding portion further comprises a shaft disposed within the cavity, and the single flexible member is configured to wind and unwind around the shaft when the payload mount is rotated around the first rotational axis or when the first support member is rotated around the second rotational axis. 
     
     
         5 . The apparatus of  claim 1 , wherein the branched configuration includes a first end that is electrically coupled to the payload mount, a second end that is electrically coupled to the first actuation unit, and a third end that is electrically coupled to the second actuation unit. 
     
     
         6 . The apparatus of  claim 5 , wherein the single flexible member comprises a first connection portion connecting the first end and the second end, and at least a portion of the first connection portion is configured to (i) wind around a portion of the payload mount or the first support member when the payload mount is rotated in a first direction around the first rotational axis, and (ii) unwind from the portion of the payload mount or the first support member when the payload mount is rotated in a second direction opposite to the first direction around the first rotational axis. 
     
     
         7 . The apparatus of  claim 5 , wherein the single flexible member comprises a second connection portion connecting the second end and the third end, and at least a portion of the second connection portion is configured to (i) wind around a portion of the first support member or the second support member when the first support member is rotated in a first direction around the second rotational axis, and (ii) unwind from the portion of the first support member or the second support member when the first support member is rotated in a second direction opposite to the first direction around the second rotational axis. 
     
     
         8 . The apparatus of  claim 1 , wherein the first rotational axis and the second rotational axis are selected from two of the following: a roll axis, a pitch axis, and a yaw axis. 
     
     
         9 . The apparatus of  claim 1 , wherein the single flexible member is configured to transmit at least one of a power signal, payload data, sensor data, or control data between the payload, the payload mount, the first support member, and the second support member. 
     
     
         10 . The apparatus of  claim 1 , further comprising:
 a plurality of sensors integrated in the payload mount, the first support member, or the second support member,   wherein the plurality of sensors are configured to provide feedback signals to control a state of the payload, a rotation of the payload mount around the first rotational axis, or a rotation of the first support member around the second rotational axis.   
     
     
         11 . An unmanned aerial vehicle (UAV), comprising:
 a propulsion system;   a payload mount configured to be coupled to a payload to secure the payload;   a first support member coupled to the payload mount, wherein the first support member comprises a first actuation unit configured to rotate the payload mount around a first rotational axis relative to the first support member;   a second support member coupled to the first support member, wherein the second support member comprises a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member;   a single flexible member comprising a branched configuration and configured to electrically coupled to the payload mount, the first actuation unit, and the second actuation unit, wherein the first support member or the second support member comprises a winding portion configured to engage the single flexible member; and   a controller configured to control the propulsion system, and to control the payload, the payload mount, the first support member, or the second support member using the single flexible member.   
     
     
         12 . The UAV of  claim 11 , wherein a perimeter of the winding portion is selected based on a minimum bending radius of the single flexible member, and the minimum bending radius is associated with material properties of the single flexible member. 
     
     
         13 . The UAV of  claim 11 , wherein the branched configuration includes a first end that is electrically coupled to the payload mount, a second end that is electrically coupled to the first actuation unit, and a third end that is electrically coupled to the second actuation unit. 
     
     
         14 . The UAV of  claim 11 , wherein the single flexible member is configured to transmit at least one of a power signal, payload data, sensor data, or control data between the payload, the payload mount, the first support member, and the second support member. 
     
     
         15 . The UAV of  claim 11 , wherein the single flexible member is further electrically coupled to the controller, and the controller is configured to transmit control data to at least one of the payload, the payload mount, the first support member, and the second support member using the single flexible member. 
     
     
         16 . An apparatus, comprising:
 a payload;   a first support member coupled to the payload, wherein the first support member comprises a first actuation unit configured to rotate the payload around a first rotational axis relative to the first support member; and   a single flexible member comprising a branched configuration and configured to be electrically coupled to the payload and the first actuation unit, wherein the first support member comprises a winding portion configured to engage the single flexible member, and a perimeter of the winding portion is selected based on a minimum bending radius of the single flexible member.   
     
     
         17 . The apparatus of  claim 16 , wherein the winding portion comprises at least a cavity, and the cavity is configured to receive at least a portion of the single flexible member when the payload is rotated around the first rotational axis. 
     
     
         18 . The apparatus of  claim 17 , wherein the winding portion further comprises a shaft disposed within the cavity, and the single flexible member is configured to wind and unwind around the shaft when the payload is rotated around the first rotational axis. 
     
     
         19 . The apparatus of  claim 16 , further comprising:
 a second support member coupled to the first support member, wherein the second support member comprises a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member.   
     
     
         20 . The apparatus of  claim 19 , wherein the branched configuration includes a first end that is electrically coupled to the payload, a second end that is electrically coupled to the first actuation unit, and a third end that is electrically coupled to the second actuation unit.