Dual axis rotational mechanism

A rotation mechanism comprising a linkage structure including:

• a mounting structure, the mounting structure including plurality of anchor points, wherein the anchor points are attachable to a component;
• a first rotational joint having a center axis and configured to receive rotational input from a single actuator;
• a second rotational joint connected to the first rotational joint, wherein the first and second rotational joint are arranged so that rotational forces applied to the first rotational joint are applied to the second rotational joint such that the second rotational joint rotates, at least in part, about the center axis of the first rotational joint;
• a third rotational joint, wherein the third rotational joint is a floating joint and is configured to control movement of the rotation mechanism along a linear axis to allow the linkage structure to absorb forces presented to the third rotational joint via a tension member;
• and
• a linear channel formed within a central axis of the mounting structure, the linear channel having a set of horizontal surfaces for contacting corresponding horizontal surfaces provided by the third rotational joint and a set of angular surfaces for contacting corresponding angular surfaces provided by the third rotational joint.

A rotation mechanism comprising a linkage structure including:

• a mounting structure, the mounting structure including plurality of anchor points, wherein the anchor points are attachable to a component;
• a first rotational joint having a center axis and configured to receive rotational input;
• a second rotational joint connected to the first rotational joint, wherein the first and second rotational joints are arranged so that rotational forces applied to the first rotational joint are applied to the second rotational joint such that the second rotational joint rotates, at least in part, about the center axis of the first rotational joint;
• a linear channel formed within a central axis of the mounting structure, the linear channel having a set of surfaces defining movement along the linear channel;
• and
• a third rotational joint making contact with the linear channel based on a tension member, wherein the third rotational joint is a floating joint configured to translate along a linear axis defined by the linear channel to absorb forces presented to the third rotational joint via the tension member.