Rotary mechanism, flight vehicle, and device and method for controlling attitude of load

A rotating mechanism wherein:

• a link X and a link A are connected by a joint XA,
• the link A and a link B are connected by a joint AB,
• the link B and a link Y are connected by a joint BY,
• a link C is connected by a joint XC on the link X and a joint BC on the link B,
• the link X is connected to a rotation reference, or the link X is the rotation reference, and
• the link Y is connected to a rotating body, or the link Y is the rotating body;
• and
• wherein the rotating body and the rotation reference may be assigned vice versa, and
• wherein the rotation reference is a flying body.

A rotating mechanism, wherein

• a link X and a link A are connected by a joint XA;
• the link A and a link B are connected by a joint AB;
• the link B and a link Y are connected by a joint BY;
• a link C is connected by a joint XC on the link X and a joint BC on the link B;
• a link D is connected by a joint AD on the link A and a joint DY on a link Y;
• wherein when viewed on a plane, the joints are arranged so that a line connecting the joint AB and the joint AD, and a line connecting the joint BY and the joint DY are parallel;
• and
• a line connecting the joint AB and the joint BY, and a line connecting the joint AD and the joint DY are parallel;
• wherein the link Y may be rotatably connected to a rotational reference at a rotational axis different from rotational axis of the joints relative to the rotational reference;
• wherein the link X may be rotatably connected or connectable to the rotational reference;
• wherein the link X may be divided into a side connected to the link A and a side connected to the link C;
• and
• wherein the rotational reference is a flying body.

A rotating mechanism, wherein

• a link X and a link Au are connected by a joint XAu;
• the link X and a link Cu are connected by a joint XCu;
• the link X and a link E are connected by a joint XE;
• a link B and the link Au are connected by a joint AuB;
• the link B and the link Cu are connected by a joint BCu;
• the link B and the link E are connected by a joint BE;
• the link B and a link Ad are connected by a joint AdB;
• the link B and a link Cd are connected by a joint BCd;
• the link B and a link Y are connected by a joint BY;
• a link D and the link Ad are connected by a joint AdD;
• the link D and the link Cd are connected by a joint CdD;
• and
• the link D and the link Y are connected by a joint DY,
• wherein at least either pair of the link Au and the link Ad, or the link Cu and the link Cd are connected so that they rotate a same amount relative to the link B,
• wherein each of the joints rotatably connects a corresponding connected link in at least two axial directions,
• wherein when viewed on a plane in which the axes of the two rotation axis directions of each joint orthogonally cross,
• a line connecting the joint XAu and the joint AuB, a line connecting the joint XCu and the joint BCu, and a line connecting the joint XE and the joint BE are parallel, and distances between the corresponding joints are the same,
• wherein a line connecting the joint AdB and the joint AdD, a line connecting the joint BCd and the joint CdD, and a line connecting the joint BY and the joint DY are parallel, and distances between the corresponding joints are the same,
• wherein the link X is connected to a rotation reference, or the link X is the rotation reference,
• the link Y is connected to a rotating body, or the link Y is the rotating body;
• and
• wherein the rotating body and the rotation reference may be assigned vice versa.