CN118265854A

CN118265854A - Coupler and mechanical joint assembly comprising same

Info

Publication number: CN118265854A
Application number: CN202280077067.8A
Authority: CN
Inventors: S·P·林德布莱德; J·C·甘布尔; Q·A·当
Original assignee: Sofec Inc
Current assignee: Sofec Inc
Priority date: 2021-11-15
Filing date: 2022-11-14
Publication date: 2024-06-28

Abstract

A coupler (130) configured to provide a hinged connection between a first member and a second member about two axes of rotation. The coupler (130) may include a first end defining a first aperture (133) therethrough and a second aperture (134) at least partially therethrough and a second end defining a third aperture (135) therethrough. The first hole (133) and the second hole (134) may partially intersect each other.

Description

Coupler and mechanical joint assembly comprising same

Cross-reference to related patent applications

The present application claims priority from U.S. provisional patent application No. 63/306,239 filed on 3 months 2 and 2021, U.S. provisional patent application No. 63/279,420 filed on 15 months 11, 2022, both of which are incorporated herein by reference.

Technical Field

The described embodiments relate generally to couplers configured to provide a hinged connection between a first member and a second member about two axes of rotation, and mechanical joint assemblies including the couplers. More particularly, the embodiments relate to a coupler and a mechanical joint assembly including the coupler that may be used to hingedly connect two members to allow rotation about two non-parallel, non-intersecting axes while transmitting axial loads, torsional loads, shear loads, or a combination thereof therebetween.

Background

In the marine oil and gas industry, as well as in other industries, such as in the transportation, construction equipment and mining industries, it is often necessary to mechanically interconnect two structural members in a manner that allows one structural member to articulate relative to the other about two axes that are not parallel to each other while transferring axial loads, shear loads, torsional loads, or combinations thereof from a first structural member to a second structural member. In the offshore oil and gas industry, U-joints are commonly used, for example, to connect a marine support structure to a yoke in an offshore mooring system. U-shaped joints have been used for these purposes for many years.

As the load on the U-joint increases, the size, weight, and associated manufacturing costs of the U-joint also increase. Furthermore, in applications where the articulation of the U-joint about one or more rotational axes is large, such as greater than 20 degrees or 30 degrees, the U-joint assembly must be increased in size to accommodate such articulation requirements, both under load and under no-load conditions. In very high load applications, such as in offshore oil and gas installations, the U-joint may become very heavy, such as up to 60 tons in some applications and even up to 300 tons in other applications. Thus, when the articulation requirements of the U-joints and/or the loading capacity of the U-joints are large, the manufacture, transportation, installation and/or maintenance of these U-joints may become difficult, if not commercially viable.

Accordingly, there is a need for an improved coupler and mechanical joint assembly including the coupler.

Disclosure of Invention

A coupler and a biaxial joint configured for providing a hinged connection between a first member and a second member about two axes of rotation and a mechanical joint assembly comprising the same are provided. In some embodiments, the coupler may include a first end defining a first aperture therethrough and a second aperture at least partially therethrough. The first and second apertures may partially intersect each other. The coupler may include a second end defining a third aperture therethrough.

In some embodiments, the dual axis joint may include a coupler, a first pin, a first wedge, an arm, a second pin, and a second wedge. The coupler may include a lug disposed at a first end thereof and a pair of arms disposed at a second end thereof. The lug may define a first aperture therethrough and a second aperture at least partially therethrough. The first and second apertures defined by the lugs may partially intersect one another. The pair of arms may define a pair of axially aligned holes therethrough. The first pin may be disposed within the first aperture. The first pin may include an engagement surface (ENGAGEMENT SURFACE) formed on a portion of an outer surface of the first pin between the first end and the second end of the first pin. The first wedge may be disposed within the second aperture. The first wedge may include an engagement surface formed on a portion of an outer surface of the first wedge between the first and second ends thereof. The engagement surface of the first wedge may contact the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler. The arm may define a first aperture therethrough and a second aperture at least partially therethrough. The first and second apertures defined by the arm may partially intersect each other. A first aperture defined by the arm and a second aperture defined by the arm may be disposed proximate the first end of the arm. The second pin may be disposed within a pair of axially aligned bores defined by the pair of arms of the coupler and a first bore defined by the arms. The second pin may include an engagement surface formed on a portion of an outer surface of the second pin between the first and second ends thereof. A second wedge may be disposed within a second aperture defined by the arm. The second wedge may include an engagement surface formed on a portion of an outer surface of the second wedge between the first and second ends thereof. The engagement surface of the second wedge may contact the engagement surface of the second pin, thereby limiting relative movement between the second pin and the arm.

Drawings

Various aspects and advantages of the preferred embodiments of this invention will become apparent to those skilled in the art from the following detailed description, which, when taken in conjunction with the annexed drawings, form a part of this specification.

FIG. 1 depicts a perspective view of an exemplary biaxial joint connected to a first member and a second member according to one or more embodiments described.

Fig. 2 depicts a partial cross-sectional view of the biaxial joint shown in fig. 1.

FIG. 3 depicts a perspective view of an exemplary pin having an engagement surface formed on a portion of its outer surface between a first end and a second end of the pin, according to one or more embodiments described.

FIG. 4 depicts a perspective view of an exemplary wedge having an engagement surface formed on a portion of its outer surface between a first end and a second end of the wedge, in accordance with one or more embodiments described.

Fig. 5 depicts a perspective view of an example coupler showing a geometric relationship between a central axis of a first bore defined by the coupler and a central axis of another (third) bore defined by the coupler, in accordance with one or more embodiments described.

Fig. 6 depicts an end view of the coupler shown in fig. 5, showing the geometric relationship between the central axis of the first bore defined by the coupler and the central axis of the third bore defined by the coupler.

Fig. 7 depicts a perspective view of another exemplary biaxial joint connected to a first member and a second member in accordance with one or more embodiments described.

FIG. 8 depicts a cross-sectional view of another exemplary double-shaft joint including two wedges disposed within a coupler of the double-shaft joint between a first pin and a second pin in accordance with one or more embodiments described.

Fig. 9 depicts a cross-sectional view of another example double-shaft joint including a first wedge disposed within a coupler of the double-shaft joint between a first pin and a second wedge disposed within the coupler of the double-shaft joint on a side of the second pin opposite the first pin, in accordance with one or more embodiments described.

FIG. 10 depicts the biaxial joint of FIG. 1 further including a cover plate disposed over the first pin and the second pin and a cover plate disposed over a wedge located within the biaxial joint according to one or more embodiments described.

FIG. 11 depicts a perspective cross-sectional view of another exemplary dual-axis joint connected to a first member and a second member in accordance with one or more embodiments described.

Fig. 12 depicts a perspective view of an exemplary coupler defining first and second apertures proximate a first end thereof and a third aperture proximate a second end thereof in accordance with one or more embodiments described.

Fig. 13 and 14 depict perspective views of an exemplary coupler defining a recess at a first end of the coupler, in accordance with one or more embodiments described.

Fig. 15 and 16 depict perspective views of an exemplary coupler according to one or more embodiments described, the coupler including a lug at a first end thereof and a pair of arms at a second end thereof, the lug defining a groove and a first bore that partially intersect one another, the pair of arms defining a pair of axially aligned bores.

FIG. 17 depicts a cross-sectional view of a biaxial joint according to one or more embodiments described.

Fig. 18 depicts a perspective view of an exemplary chain table for a mooring turret including a plurality of double-shaft joints connected thereto, in accordance with one or more embodiments described.

FIG. 19 depicts a perspective view of a biaxial joint according to one or more embodiments described.

Fig. 20 depicts a cross-sectional view of the biaxial joint shown in fig. 19.

Detailed Description

A detailed description will now be provided. Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, in some cases, all references to "invention" refer to only certain specific or preferred embodiments. In other instances, references to "invention" refer to subject matter recited in one or more, but not necessarily all, of the claims. It is to be understood that the following disclosure describes several exemplary embodiments for implementing different features, structures or functions of the invention. To simplify the present disclosure, exemplary embodiments of the components, arrangements, and configurations are described below; however, these exemplary embodiments are provided by way of example only and are not intended to limit the scope of the invention. Further, the present disclosure may repeat reference numerals and/or letters in the various examples provided herein and in the figures. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various exemplary embodiments and/or configurations discussed in the figures. Furthermore, in the following description, forming a first feature over or on a second feature includes embodiments in which the first feature is formed in direct contact with the second feature, and also includes embodiments in which additional features interposed between the first feature and the second feature are formed so that the first feature is not in direct contact with the second feature. The exemplary embodiments presented below may be combined in any combination, i.e. any element of one exemplary embodiment may be used in any other exemplary embodiment without departing from the scope of the present disclosure. The figures are not necessarily to scale and certain features and certain views of the figures may be shown exaggerated in scale or in schematic for clarity and/or conciseness.

Furthermore, certain terms are used throughout the following description and claims to refer to particular components. As will be appreciated by those of skill in the art, the entities may refer to the same component by different names, and thus, the naming convention of elements described herein is not intended to limit the scope of the present invention unless explicitly defined otherwise herein. Moreover, the naming convention used herein is not intended to distinguish between components that differ in name but not function. Furthermore, in the following discussion and in the claims, the terms "include" and "comprising" are used in an open-ended fashion, and thus should be interpreted to mean "including, but not limited to.

Unless specifically stated otherwise, all numbers in this disclosure are precise or approximate values ("about"). Accordingly, various embodiments of the disclosure may deviate from the numbers, values, and ranges disclosed herein without departing from the intended scope.

Further, the term "or" is intended to cover both exclusive and inclusive, i.e., "a or B" is intended to be synonymous with "at least one of a and B," unless expressly specified otherwise herein. The indefinite articles "a" and "an" mean in the singular (i.e., "one") and plural (i.e., one or more) unless the context clearly dictates otherwise. The terms "upper" and "lower" are used herein; "up" and "down"; "upper" and "lower"; "upwardly" and "downwardly"; "above" and "below"; and other like terms refer to relative positions to one another and are not intended to indicate a particular spatial orientation, as the device and method of use thereof may be equally effective at various angles or orientations.

It should also be understood that the phrases "disposed therein," "disposed therein," and other like phrases, when describing a component (e.g., a wedge or pin), describe the component as being partially disposed therein/therein or completely disposed therein/therein. For example, if the assembly is a wedge that is positionable within the bore, the phrase "the wedge may be positioned within the bore" means that the wedge may be partially positioned within the bore or completely positioned within the bore.

It should be understood that the terms "orthogonal" and "orthogonally" refer to two lines or vectors that are not coplanar and thus do not intersect but can appear to be perpendicular when viewed from a particular angle. In other words and according to a mathematical definition, two lines or vectors are orthogonal if their vector dot product is zero. For example, in a three-dimensional cartesian coordinate system, a line parallel to the X-axis with a constant Z-value of 1 is orthogonal to a line parallel to the Y-axis with a constant Z-value of 2, because these lines do not intersect, their dot product is zero, and these lines are oriented at 90 degrees to each other when viewed along the Z-axis. As yet another example where the first line is orthogonal to the second line, the first line may lie in a first plane and the second line may lie in a second plane, where the first plane and the second plane are parallel to each other and the first line and the second line are oriented at 90 degrees to each other when viewed along an axis perpendicular to the first plane and the second plane. It is also to be understood that the term "substantially" when used in the context of "substantially orthogonal" means that the first and second lines are oriented at an angle of about 80 degrees, about 83 degrees, about 85 degrees, about 87 degrees, or about 89 degrees to about 91 degrees, about 93 degrees, about 95 degrees, about 97 degrees, or about 100 degrees to each other when viewed along an axis perpendicular to the first and second planes.

Fig. 1 depicts a perspective view of an exemplary biaxial joint 100 connected to a first member M1 and a second member M2 in accordance with one or more embodiments. Fig. 2 depicts a partial cross-sectional view of the biaxial joint 100 shown in fig. 1. The dual-axis joint 100 may include a first clevis (clevis) 110, a second clevis 120, a coupler 130, a first pin 140, a wedge 150, and a second pin 160. The biaxial joint 100 may allow the first member M1 to articulate relative to the second member M2 about two non-parallel, non-intersecting axes while transmitting axial forces, shear forces, torque or a combination thereof from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1.

The first clevis 110 may be engaged, fastened, or otherwise connected to the first member M1 and the second clevis 120 may be engaged, fastened, or otherwise connected to the second member M2. In some embodiments, the connection between the first clevis 110 and the first member M1 and the connection between the second clevis 120 and the second member M2 may be static such that the first clevis 110 does not move relative to M1 and the second clevis 120 does not move relative to M2. Suitable connection systems or methods may include, but are not limited to, welding, bolts and nuts, rivets, pins, screws, mechanical connectors (such as socket connectors), adhesives, and the like.

The first clevis 110 may include a first pair of arms 111, 112. The first pair of arms 111, 112 may define an axially aligned cylindrical bore (bore 113 is visible in fig. 1) at least partially therethrough. In some embodiments, one of the apertures defined by the first pair of arms 111, 112 may pass completely therethrough, and one of the apertures defined by the first pair of arms 111, 112 may be disposed partially therethrough. In other embodiments, the aperture defined by the first pair of arms 111, 112 may pass entirely therethrough. The second clevis 120 may include a second pair of arms 121, 122. The second pair of arms 121, 122 may define an axially aligned cylindrical bore (bore 123 is visible in fig. 1, bores 123 and 124 are visible in fig. 2) at least partially therethrough. In some embodiments, one of the apertures defined by the second pair of arms 121, 122 may pass completely therethrough, and one of the apertures 123, 124 defined by the second pair of arms may pass partially therethrough. In other embodiments, the aperture defined by the second pair of arms 121, 122 may pass entirely therethrough.

Coupler 130 and first and second pins 140 and 160 may be or otherwise provide a structural connection or interlock between first and second clevis 110 and 120. The coupler 130 may define at least a first aperture 133, a second aperture 134, and a third aperture 135. In some embodiments, the first and third apertures 133, 135 defined by the coupler 130 may each pass completely therethrough, and the second aperture 134 defined by the coupler 130 may pass partially therethrough. In other embodiments, the first, second, and third apertures 133, 134, 135 defined by the coupler 130 may each pass entirely therethrough.

In some embodiments, the coupler 130 may include a first ledge 131 disposed proximate to a first end of the coupler 130 and a second ledge 132 disposed proximate to a second end of the coupler 130. The first ledge 131 may define a first aperture 133 and a second aperture 134, and the second ledge 132 may define a third aperture 135 (see also fig. 5). The first hole 133 and the second hole 134 defined by the first boss 131 may partially intersect each other. The coupler 130 may be connected to the first clevis 110 by placing, positioning, or otherwise disposing the first pin 140 within the first aperture 133 and the aperture defined by the first pair of arms 111, 112 of the first clevis 110. The coupler 130 may be connected to the second clevis 120 by placing, positioning, or otherwise disposing the second pin 160 within the third aperture 135 and the aperture defined by the second pair of arms 121, 122 of the second clevis 120. When in use, one or more forces on the dual-axis joint 100 may be transferred between the first clevis 110 and the coupler 130 via the first pin 140. Similarly, when in use, one or more forces on the dual-axis joint 100 may be transferred between the second clevis 120 and the coupler 130 via the second pin 160. In some embodiments, the first hole 133 and the third hole 135 may be substantially orthogonal to each other. In some embodiments, the first and second apertures 133, 134 may be substantially orthogonal to each other.

The wedge 150 may be disposed within the second bore 134 defined by the coupler 130. As shown in fig. 2, the first and second holes 133 and 134 may be arranged or configured such that the wedge 150 and the first pin 140 may contact each other. For example, the first pin 140 may include an engagement surface 141 (see fig. 3) formed on a portion of an outer surface thereof, and the wedge 150 may include an engagement surface 151 (see fig. 4) formed on an outer surface thereof such that the engagement surface 141 of the first pin 140 and the engagement surface 151 of the wedge 150 may at least partially contact each other to limit relative movement between the first pin 140 and the coupler 130. In some embodiments, contact between the engagement surface 151 of the wedge 150 and the engagement surface 141 of the first pin 140 may limit or prevent relative rotation between the first pin 140 and the coupler 130.

Fig. 3 depicts a perspective view of a first pin 140, showing an engagement surface 141 formed on a portion of an outer surface 142 of the first pin 140 between a first end 143 and a second end 144 of the first pin 140, in accordance with one or more embodiments. In some embodiments, the first pin 140 may be an elongated member that may include a substantially cylindrical body. In some embodiments, the engagement surface 141 formed on the first pin 140 may be oriented substantially perpendicular to the longitudinal axis 145 of the first pin 140. In some embodiments, the engagement surface 141 of the first pin 140 may be defined by a groove, a channel, a depression, a recess, or any other shape. As shown in fig. 3, in some embodiments, the engagement surface 141 of the first pin 140 may be flat. As shown in fig. 3, the engagement surface 141 may be located or otherwise disposed at a midpoint of the first pin 140. However, in other embodiments, the engagement surface 141 may be located or otherwise disposed at a location that may deviate from the midpoint. As further described below, in some embodiments, the first pin 140 may include two or more engagement surfaces 141, and in such embodiments, the two or more engagement surfaces 141 may be equally spaced apart or unequally spaced apart from one another between the first end 143 and the second end 144 of the first pin 140. In some embodiments, when the first pin 140 includes two or more engagement surfaces 141, the coupler 130 may define two or more "second" apertures 134 at least partially therethrough, which may each be configured to receive the wedge 150 therein. It should be appreciated that in some embodiments, the second pin 160 may be identical or substantially identical to the first pin 140. For example, as described further below, in some embodiments, the second pin 160 may optionally include one or more engagement surfaces, which may be the same or similar to the engagement surface 141 of the first pin 140. However, in other embodiments, the second pin 160 may not have any engagement surface such that the second pin 160 may be a substantially cylindrical body without any engagement surface formed on an outer surface thereof.

Fig. 4 depicts a perspective view of a wedge 150 in accordance with one or more embodiments and illustrates an engagement surface 151 formed on an outer surface or portion of an outer surface 152 of the wedge 150 between a first end 153 and a second end 154 of the wedge 150. In some embodiments, the engagement surface 151 of the wedge 150 may be flat. In some embodiments, the thickness of the first end 153 of the wedge 150 may be less than the thickness of the second end 154 of the wedge 150 such that the engagement surface 151 may taper along the longitudinal axis of the wedge 150.

In some embodiments, the body of wedge 150 may be configured with a generally cylindrical or cubical body, a generally cylindrical or cubical body with one or two generally frustoconical ends, or a combination thereof. As such, in some embodiments, the wedge 150 may include a taper or bevel 155, 156 (two shown) on one or both ends 153, 154 that may facilitate insertion of the wedge 150 into the second bore 134 and removal of the wedge from the second bore 134. In some embodiments, the wedge 150 may define a threaded aperture 157 at one or both ends thereof to facilitate insertion, preloading, retaining, and/or removal of the wedge 150 within the second aperture 134. In some embodiments, the wedge 150 may define a single threaded bore that may span the entire length of the wedge 150.

In some embodiments, the wedge 150 may be disposed within the second bore 134 with a sufficient amount of axial force applied to the first end of the wedge 150, the second end 153 of the wedge 150, or both ends 153, 154 of the wedge 150 to force or otherwise urge the engagement surface 151 of the wedge 150 into contact with the engagement surface 141 of the first pin 140 and secure the first pin 140 and the wedge 150 within the coupler 130. The force may be applied via any number of means, including tension or screw jack mechanisms, hydraulic cylinders, impact forces, or other similar means. It has been found that by applying a sufficient amount of axial force to the wedge 150, the need for a sleeve, washer, or other bushing between the outer surface of the first pin 140 and the inner surface 136 of the first bore 133 can be eliminated. As used herein, the term "bushing" refers to any sleeve, washer, liner, inlay, pad, or any other structure configured to reduce friction and/or wear between an outer surface of a pin and an inner surface of a bore in which the pin is at least partially disposed. In other words, the outer surface 142 of the first pin 140 and the inner surface 136 of the first bore 133 may be in direct contact with each other by applying a sufficient amount of axial force to the wedge 150. However, in other embodiments, a bushing may be disposed between the outer surface 142 of the first pin 140 and the inner surface 136 of the first bore 133 of the coupler 130. In some other embodiments, the bushing 127 may be disposed between the outer surface 142 of the second pin 160 and the inner surfaces of the bores of the second pair of arms 121, 122 and the inner surface 137 of the third bore 135. In other embodiments, a bushing may be disposed between the inner surface of each arm of the first pair of arms 111, 112 and the first pin 140. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

While fig. 2-4 depict the engagement surface 141 of the first pin 140 and the engagement surface 151 of the wedge 150 as being planar, respectively, it should be appreciated that the engagement surfaces 141 and 151 may include any desired surface profile that may be configured to contact or otherwise engage one another when the first pin 140 is disposed within the first bore 133 and the wedge 150 is disposed within the second bore 134. In some embodiments, the engagement surfaces 141 and/or 151 may include one or more surface modifications disposed thereon to facilitate or improve contact between the engagement surfaces 141 and 151 when placed in contact with one another. Exemplary surface modifications may include, but are not limited to, one or more dimples, protrusions, protuberances, ridges, pins, bars, depressions, grooves, holes, cutouts, recesses, or any other surface variation or modification, alone or in any combination.

In one embodiment, the engagement surface 151 of the wedge 150 may comprise a convex curved surface, such as a surface having a circular or semi-circular cross-sectional profile, disposed at least partially along the longitudinal axis of the wedge 150, and the engagement surface 141 of the first pin 140 may comprise a concave curved surface, such as a surface having a circular or semi-circular cross-sectional profile, disposed at least partially along the longitudinal axis of the engagement surface 141, such that the convex curved surface of the wedge 150 is configured to at least partially lie within the concave curved surface of the first pin 140.

As described above, in some embodiments, one or more additional "second" apertures may be defined by the coupler 130 in addition to the wedge 150 that may be disposed within the second aperture 134 defined by the first coupler 130. In such an embodiment, the dual-axis joint 100 may further include one or more additional wedges, which may be disposed within one or more additional second apertures and may be configured to contact the first pin 140, which first pin 140 may include one or more additional engagement surfaces configured to contact the additional wedges in the same or different manner in which the engagement surface 151 of the wedge 150 and the engagement surface 141 of the first pin 140 may be configured to contact each other. In some embodiments, when coupler 130 defines one or more additional apertures such that biaxial joint 100 includes two or more wedges, the engagement surfaces of the two or more wedges and the engagement surfaces of first pin 140 may include the same profile or surface profile or different profiles or surface profiles from each other.

Returning to fig. 1 and 2, the pair of arms 111, 112 of the first clevis 110 may be configured to fit around both sides of the first lobe 131 of the coupler 130 or otherwise around the exterior of the first lobe 131 of the coupler 130 to allow the first clevis 110 to rotate relative to the coupler 130 when the first pin 140 is disposed within the aperture of the first pair of arms 111, 112 of the first clevis 110 and the first aperture 133 of the coupler 130. In some embodiments, the first clevis 110 may be configured to rotate relative to the coupler 130 about the first pin 140 any desired range. The pair of arms 121, 122 of the second clevis may be configured to fit around both sides of the second ledge 132 or otherwise around the exterior of the second ledge 132 to allow the second clevis 120 to rotate relative to the coupler 130 when the second pin 160 is disposed within the aperture of the second pair of arms 121, 122 of the second clevis 120 and the third aperture 135 of the coupler 130.

In some embodiments, the first member M1 may be rotated about the first pin 140 by up to about plus or minus 10 degrees, about plus or minus 25 degrees, about plus or minus 40 degrees, about plus or minus 60 degrees, or about plus or minus 100 degrees relative to the coupler 130 while transferring load from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1, and the second member M2 may be rotated about the second pin 160 by about plus or minus 10 degrees, about plus or minus 25 degrees, about plus or minus 40 degrees, about plus or minus 60 degrees, or about plus or minus 100 degrees relative to the coupler 130. In some embodiments, while in the unloaded or stored state, the first member M1 may be rotated about the first pin 140 by at most about plus or minus 90 degrees, about plus or minus 120 degrees, about plus or minus 135 degrees, about plus or minus 170 degrees, and the second member M2 may be rotated about the second pin 160 by at most about plus or minus 90 degrees, about plus or minus 120 degrees, about plus or minus 135 degrees, or about plus or minus 170 degrees, relative to the coupler 130.

In some embodiments, the first clevis 110, the second clevis 120, the coupler 130, the first pin 140, the wedge 150, the second pin 160, and any other components of the dual-axis joint 100 may be manufactured or otherwise made from any suitable material or combination of materials. In some embodiments, one or more of the components of the biaxial joint 100 may be manufactured via any suitable manufacturing process such as forging, casting, molding, milling, machining, or other process. In some embodiments, suitable materials may be or may include, but are not limited to, metals, metal alloys, non-metallic materials, or any other material suitable for the loads, service, and environment to which the biaxial joint 100 may be subjected during its use. Suitable metals and metal alloys may be or may include, but are not limited to, steel, carbon steel, stainless steel, aluminum, nickel, bronze, brass, titanium, or any combination thereof. In some embodiments, suitable nonmetallic materials may be or may include, but are not limited to, carbon fibers, glass fibers, polymers, reinforced polymers, or any other nonmetallic material with suitable mechanical properties for a given application. The overall size and shape of the first clevis 110, the second clevis 140, and the coupler 130 may be selected to accommodate various angular rotations and loads required for a biaxial joint, as will be apparent to those skilled in the art.

Fig. 5 depicts a perspective view of the coupler 130 shown in fig. 1 and 2, showing a geometric relationship between a central axis of a first bore 133 defined by the coupler 130 and a central axis of a third bore 135 defined by the coupler 130, in accordance with one or more embodiments. As described above, the coupler 130 may include the first lug 131, which may define the first and second holes 133 and 134, and the second lug 132, which may define the third hole 135. Fig. 6 depicts an end view of the coupler 130 shown in fig. 5, showing the geometric relationship between the central axis 510 of the first bore 133 defined by the coupler 130 and the central axis 530 of the third bore 135 defined by the coupler. As shown in fig. 5, the central axis 510 of the first bore 133 and the central axis 530 of the third bore 135 may be substantially orthogonal to each other, as shown in fig. 6. As also shown in fig. 5, the central axis 510 of the first bore 133 may lie in a first plane 520 and the central axis 530 of the third bore 135 may lie in a second plane 540. The first plane 520 and the second plane 540 may be parallel or substantially parallel to each other.

Fig. 7 depicts a perspective view of another exemplary biaxial joint 700 connected to a first member M1 and a second member M2 in accordance with one or more embodiments. The dual-axis joint 700 may include a first clevis 710, a second clevis 720, a coupler 730, a first pin 140, a wedge 150, and a second pin 160. The biaxial joint 700 may allow the first member M1 to articulate relative to the second member M2 about two non-parallel, non-intersecting axes while transmitting axial forces, shear forces, torque or a combination thereof from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1.

The first clevis 710 may be engaged, fastened, or otherwise connected to the first member M1 and the second clevis 720 may be engaged, fastened, or otherwise connected to the second member M2. In some embodiments, the connection between the first clevis 710 and the first member M1 and the connection between the second clevis 720 and the second member M2 may be static such that the first clevis 710 does not move relative to M1 and the second clevis 720 does not move relative to M2. Suitable connection systems or methods may include, but are not limited to, welding, bolts and nuts, rivets, pins, screws, mechanical connectors (such as socket connectors), adhesives, and the like.

The first clevis 710 may include a first pair of arms 711, 712. The first pair of arms 711, 712 may define an axially aligned cylindrical bore (bore 713 is visible in fig. 7) therethrough at least partially. In some embodiments, one of the apertures defined by the first pair of arms 711, 712 may pass completely therethrough, and one of the apertures defined by the first pair of arms 711, 712 may be disposed partially therethrough. In other embodiments, both apertures defined by the first pair of arms 711, 712 may pass entirely therethrough. The second clevis 720 may include a second pair of arms 721, 722. The second pair of arms 721, 722 may define an axially aligned cylindrical bore (bore 723 is visible in fig. 7) at least partially therethrough. In some embodiments, one of the apertures defined by the second pair of arms 721, 722 may pass completely therethrough, and one of the apertures defined by the second pair of arms 721, 722 may be disposed partially therethrough. In other embodiments, both apertures defined by the second pair of arms 721, 722 may be disposed completely therethrough.

Coupler 730 and first and second pins 140 and 160 may be or otherwise provide a structural connection or interlock between first and second clevis 710 and 720. Coupler 730 may define at least a first aperture 733, a second aperture 734, and a third aperture (not visible but aligned with aperture 723 defined by arm 722). The first and second holes 733 and 734 may partially intersect each other. In some embodiments, the third aperture defined by coupler 730 may be similar or identical to third aperture 135 (see fig. 1 and 5) defined by coupler 130. In some embodiments, the first and third holes 733, 734 defined by the coupler 730 may each pass completely therethrough, and the second hole 734 defined by the coupler 730 may pass partially therethrough. In other embodiments, the first, second, and third holes 733, 734, and third holes defined by the coupler 730 may each pass entirely therethrough.

In some embodiments, coupler 730 may include a pair of arms 731, 732 disposed proximate a first end of coupler 730 and a tab 737 disposed proximate a second end of coupler 130. The pair of arms 731, 732 may define a first aperture 733, the body of the coupler 730 between the pair of arms 731, 732 and the tab 737 may define a second aperture 734, and the tab 737 may define a third aperture. The coupler 730 may be connected to the first clevis 710 by placing, positioning, or otherwise disposing the first pin 140 within the first aperture 733 and the aperture defined by the first pair of arms 711, 712 of the first clevis 710. Coupler 730 may be connected to second clevis 720 by placing, positioning, or otherwise disposing second pin 160 within a third aperture and an aperture defined by a second pair of arms 721, 722 of second clevis 720 (aperture 723 is visible in fig. 7). When in use, one or more forces on the two-axis joint 700 may be transferred between the first clevis 710 and the coupler 730 via the first pin 740. Similarly, when in use, one or more forces on the dual-axis joint 700 may be transferred between the second clevis 720 and the coupler 730 through the second pin 160. In some embodiments, the first and third holes 733, 733 defined by the coupler 730 may be substantially orthogonal to each other. In some embodiments, the first and second holes 733, 734 defined by the coupler may be substantially orthogonal to each other.

Wedge 150 may be disposed within a second aperture 734 defined by coupler 730. As shown in fig. 7, the first and second holes 733 and 734 may be arranged or configured such that the wedge 150 and the first pin 140 may contact each other. For example, the first pin 140 may include an engagement surface 141 formed on a portion of an outer surface 142 thereof, and the wedge 150 may include an engagement surface 151 formed on an outer surface 152 thereof, such that the engagement surface 141 of the first pin 140 and the engagement surface 151 of the wedge 150 may at least partially contact each other to limit relative movement between the first pin 140 and the coupler 130. In some embodiments, contact between the engagement surface 151 of the wedge 150 and the engagement surface 141 of the first pin 140 may limit or prevent relative movement between the first pin 140 and the coupler 730.

It should be appreciated that in some embodiments, the second pin 160 may be identical or substantially identical to the first pin 140. For example, as described further below, in some embodiments, the second pin 160 may include one or more engagement surfaces, which may be the same or similar to the engagement surface 141 of the first pin 140. However, in other embodiments, the second pin 160 may not have any engagement surface such that the second pin 160 may be a substantially cylindrical body without any engagement surface formed on an outer surface thereof.

In some embodiments, the wedge 150 may be disposed within the second bore 734 such that the engagement surface 151 of the wedge 150 may contact the engagement surface 141 of the first pin 140 and sufficient axial force may be applied to the wedge 150 to preload the first pin 140 in a direction opposite the primary tensile load of the biaxial joint 700, the biaxial joint 700 being configured to be in the primary tensile load direction when in the loaded state. In some embodiments, the preload applied to the first pin 140 may be sufficient to bend the arms 731, 732 apart or away from each other. In such embodiments, the load applied to the first pin 140 may decrease as an external tensile load is applied to the biaxial joint 700. It has been found that preloading the first pin 140 via the wedge 150 may facilitate significantly reducing the overall size of the biaxial joint 700. More specifically, it has been found that preloading the first pin 140 via the wedge 150 can reduce the overall size of the biaxial joint 700 such that the weight of the biaxial joint 700 can be less than the weight of a comparative biaxial joint that is configured in the same manner, except that the second bore 134 and wedge 150 are not present to preload the first pin 140 by > 5 wt%, > 10 wt%, > 15 wt%, > 20 wt%, > 25 wt%, > 30 wt%, > 35 wt% or > 40 wt%. The force used to install wedge 150 and achieve the desired preload may be applied via any number of methods, including screw jack mechanisms, hydraulic cylinders or jacks, impact forces, or other similar devices. Since relative movement between the first pin 140 and the coupler 730 may be limited or prevented, the need for bushings between the first pin 140 and the bore 733 defined by the coupler 730 may be eliminated.

Fig. 8 depicts a cross-sectional view of another exemplary two-axis joint 800 according to one or more embodiments, the two-axis joint 800 including two wedges 150, 850 disposed within a coupler 830 of the two-axis joint 800 between a first pin 140 and a second pin 160. The dual-axis joint 800 may include a first clevis 810, a second clevis 820, a coupler 830, a first pin 140, a first wedge 150, a second pin 160, and a second wedge 850. The biaxial joint 800 may be connected to the first member M1 and the second member M2. The biaxial joint 800 may allow the first member M1 to articulate relative to the second member M2 about two non-parallel, non-intersecting axes while transmitting axial forces, shear forces, torque or combinations thereof from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1.

The first clevis 810 may be engaged, fastened, or otherwise connected to the first member M1 and the second clevis 820 may be engaged, fastened, or otherwise connected to the second member M2. The connection between the first clevis 810 and the first member M1 and the connection between the second clevis 820 and the second member M2 may be static such that the first clevis 810 does not move relative to M1 and the second clevis 820 does not move relative to M2. Suitable connection systems or methods may include, but are not limited to, welding, bolts and nuts, rivets, pins, screws, mechanical connectors (such as socket connectors), adhesives, and the like.

The first clevis 810 may include a first pair of arms (arms 811 are visible in fig. 8). The first pair of arms may define an axially aligned cylindrical bore (not visible) at least partially therethrough. In some embodiments, one of the apertures defined by the first pair of arms may extend completely therethrough, and one of the apertures defined by the first pair of arms may be disposed partially therethrough. The second clevis 820 may include a second pair of arms 821, 822. The second pair of arms 821, 822 may define an axially aligned cylindrical bore 823, 824 at least partially therethrough. In some embodiments, one of the apertures 823, 824 defined by the second pair of arms 821, 822 may pass completely therethrough, and one of the apertures defined by the second pair of arms 821, 822 may be disposed partially therethrough.

Coupler 830 and first and second pins 140 and 160 may be or otherwise provide a structural connection or interlock between first clevis 810 and second clevis 820. Coupler 830 may define at least a first bore 833, a second bore 834, a third bore 835, and a fourth bore 836. In some embodiments, the first and third apertures 833, 835 defined by the coupler 830 may each pass completely therethrough, and the second and fourth apertures 834, 836 defined by the coupler 830 may pass partially therethrough. In other embodiments, at least one of the first bore 833, the third bore 835, and the second and fourth bores 834, 836 defined by the coupler 830 may each pass entirely therethrough. The first and second holes 833 and 834 may partially intersect each other. The third bore 835 and the fourth bore 836 may partially intersect each other.

Coupler 830 may include a pair of arms (one shown in fig. 8, 831) disposed proximate a first end of coupler 830 and a tab 832 disposed proximate a second end of coupler 830. The pair of arms (one shown 831) may define a first aperture 833. The body of the coupler 830 may define a second aperture 834 between a pair of arms disposed proximate a first end of the coupler 830 and a ledge 832 disposed proximate a second end of the coupler 830. A lug 832 disposed proximate the second end of the coupler may define a third aperture 835 and a fourth aperture 836. Coupler 830 may be connected to first clevis 810 by placing, positioning, or otherwise disposing first pin 140 within a first aperture 833 and an aperture defined by a first pair of arms (arms 811 are visible in fig. 8) of first clevis 810. The coupler 830 may be connected to the second clevis 820 by placing, positioning, or otherwise disposing the second pin 160 within the third aperture 835 and apertures 823, 824 defined by the second pair of arms 821, 822 of the second clevis 820. When in use, loads and/or forces on the dual-axis joint 800 may be transferred between the first clevis 810 and the coupler 830 via the first pin 140. Similarly, when in use, loads and/or forces on the dual-axis joint 800 may be transferred between the second clevis 820 and the coupler 830 via the second pin 160.

In some embodiments, the first and third apertures 833, 835 may be substantially orthogonal to each other. In some embodiments, the first and second holes 833, 834 may be substantially orthogonal to each other. In some embodiments, the third bore 835 and the fourth bore 836 may be substantially orthogonal to one another.

The biaxial joint 800 may include a first wedge 150, which first wedge 150 may be disposed within a second bore 834 defined by the coupler 830. As shown in fig. 8, the first and second holes 833 and 834 may be arranged or configured such that the first wedge 150 and the first pin 140 may contact each other. For example, the first pin 140 may include an engagement surface 141 formed on a portion of an outer surface 142 thereof, and the first wedge 150 may include an engagement surface 151 formed on an outer surface 152 thereof, such that the engagement surface 141 of the first pin 140 and the engagement surface 151 of the first wedge 150 may contact each other to limit relative movement between the first pin 140 and the coupler 130 (see fig. 3 and 4). In some embodiments, contact between the engagement surface 151 of the first wedge 150 and the engagement surface 141 of the first pin 140 may limit or prevent relative movement between the first pin 140 and the coupler 830.

In some embodiments, the first wedge 150 may be disposed within the second bore 834 such that the engagement surface 151 of the wedge 150 may contact the engagement surface 141 of the first pin 140 and sufficient axial force may be applied to the first wedge 150 to preload the first pin 140 in a direction opposite the primary tensile load of the biaxial joint 800, the biaxial joint 800 being configured in the primary tensile load direction when in the loaded state. In some embodiments, the preload applied to the first pin 140 may be sufficient to bend the pair of arms (one shown, 831) of the first end of the coupler 830 apart or away from each other. In such embodiments, the load applied to the first pin 140 may decrease as an external tensile load is applied to the biaxial joint 800. Preloading the first pin 140 via the first wedge 150 may facilitate significantly reducing the overall size of the biaxial joint 800. More specifically, preloading the first pin 140 via the wedge 150 may reduce the overall size of the biaxial joint 800 such that the weight of the biaxial joint 800 may be less than the weight of a comparative biaxial joint that is configured in the same manner, except that the second hole 834 and the first wedge 150 are not present to preload the first pin 140 by > 5 wt%, > 10 wt%, > 15 wt%, > 20 wt%, > 25 wt%, > 30 wt%, > 35 wt% or > 40 wt%. The force used to install wedge 150 and achieve the desired preload may be applied via any number of methods, including screw jack mechanisms, hydraulic cylinders or jacks, impact forces, or other similar devices. It has also been found that since relative movement between the first pin 140 and the coupler 830 may be limited or prevented, the need for bushings between the first pin 140 and the apertures 831 and 832 defined by the coupler 830 may be eliminated.

In some embodiments, a second wedge 850 may be disposed within a fourth aperture 836 defined by coupler 830. The third and fourth apertures 835, 836 may be arranged or configured such that the second wedge 850 and the second pin 160 may contact each other. For example, the second pin 160 may include an engagement surface 141 (see fig. 3) formed on a portion of the outer surface 142 thereof, and the second wedge 850 may include an engagement surface 151 (see fig. 4) formed on the outer surface 152 thereof, such that the engagement surface 141 of the second pin 160 and the engagement surface 151 of the second wedge 850 may contact each other to limit relative movement between the second pin 160 and the coupler 830. In some embodiments, contact between the engagement surface 151 of the second wedge 850 and the engagement surface 141 of the second pin 160 may limit or prevent relative movement between the second pin 160 and the coupler 830. In such embodiments, since relative movement between the second pin 160 and the coupler 830 may be limited or prevented, the need for a bushing between the outer surface of the second pin 160 and the inner surface of the third bore 835 defined by the coupler 830 may be eliminated.

In some embodiments, the fourth aperture 836 and the second wedge 850 may be placed or positioned in a location that may be on an opposite side of the second pin 160 from the second member M2, as shown in fig. 8. In other embodiments, the fourth aperture 836 and the second wedge 850 may be placed or positioned in a location that may be on the same side of the second pin 160 as the second member M2, not shown. In some embodiments, bushings 841, 842 may be disposed between the inner surface of each arm of the second pair of arms 821, 822 and the second pin 160. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

Fig. 9 depicts a cross-sectional view of another exemplary biaxial joint 900 according to one or more embodiments, the biaxial joint 900 including a first wedge 150 disposed within a coupler 930 of the biaxial joint 900 between a first pin 140 and a second pin 160 and a second wedge 850 disposed within the coupler 930 of the biaxial joint 900 on a side of the second pin 160 opposite the first pin 140. The dual axis joint 900 may include a clevis 910, a lug 920, a coupler 930, a first pin 140, a first wedge 150, a second pin 160, and a second wedge 850. According to one or more embodiments, the biaxial joint 900 shown in fig. 9 may be connected to the first member M1 and the second member M2. The biaxial joint 900 may allow the first member M1 to articulate relative to the second member M2 about two non-parallel, non-intersecting axes while transmitting axial forces, shear forces, torque or combinations thereof from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1.

Clevis 910 may be engaged, fastened, or otherwise connected to first member M1, and lug 920 may be engaged, fastened, or otherwise connected to second member M2. The connection between clevis 910 and first member M1 and the connection between lug 920 and second member M2 may be static such that clevis 910 does not move relative to M1 and lug 920 does not move relative to M2. Suitable connection systems or methods may include, but are not limited to, welding, bolts and nuts, rivets, pins, screws, mechanical connectors (such as socket connectors), adhesives, and the like.

The clevis 910 may include a pair of arms (one shown in fig. 9, 911). The pair of arms of clevis 910 may define an axially aligned cylindrical bore (not visible) at least partially therethrough. In some embodiments, one of the apertures defined by the pair of arms of clevis 910 may pass completely therethrough, and one of the apertures defined by the pair of arms of clevis 910 may be disposed partially therethrough. The lugs 920 may define a first aperture 921 therethrough and a second aperture 922 at least partially therethrough. The first and second holes 921 and 922 may partially intersect each other. Coupler 930 and first and second pins 140 and 160 may be or otherwise provide a structural connection or interlock between clevis 910 and lug 920. Coupler 930 may define a first aperture 933, a second aperture 934, and a third aperture 935. In some embodiments, the first and third apertures 933, 935 defined by the coupler 930 may each pass entirely therethrough, and the second aperture 934 defined by the coupler 930 may pass partially therethrough. In other embodiments, the first, second, and third apertures 933, 934, 935 defined by the coupler 830 may each pass entirely therethrough.

Coupler 930 may include a first pair of arms (one shown, 931) disposed proximate a first end of coupler 930 and a second pair of arms 936, 937 disposed proximate a second end of coupler 930. The first pair of arms may define a first aperture 933, the body of the coupler 930 disposed between the first and second ends of the coupler 930 may define a second aperture 934, and the second pair of arms 936, 937 may define a third aperture 935. The first and second bores 933, 934 defined by the coupler 933 may partially intersect one another. Coupler 930 may be coupled to clevis 910 by placing, positioning, or otherwise disposing first pin 140 within a first aperture 933 and an aperture defined by a pair of arms of clevis 910. The coupler 930 may be connected to the lug 920 by placing, positioning, or otherwise disposing the second pin 160 within the first aperture 921 and the aperture 935 defined by the second pair of arms 936, 937 of the lug 920. When in use, loads and/or forces on the dual-axis joint 900 may be transferred between the clevis 910 and the coupler 930 via the first pin 140. Similarly, when in use, loads and/or forces on the dual-axis joint 900 may be transferred between the lugs 920 and the coupler 930 via the second pin 160. In some embodiments, the first aperture 933 defined by the coupler 930 and the third aperture 935 defined by the coupler 930 may be substantially orthogonal to each other. In some embodiments, the first and second apertures 933, 934 defined by the coupler 930 may be substantially orthogonal to one another. In some embodiments, the first aperture 921 and the second aperture 922 defined by the lug 920 may be substantially orthogonal to each other.

The first wedge 150 may be disposed within a second bore 934 defined by the coupler 930. The first hole 933 defined by the coupler 930 and the second hole 934 defined by the coupler 930 may be arranged or configured such that the first wedge 150 and the first pin 140 may contact each other. For example, the first pin 140 may include an engagement surface 141 formed on a portion of an outer surface 142 thereof, and the first wedge 150 may include an engagement surface 151 formed on an outer surface 152 thereof, such that the engagement surface 141 of the first pin 140 and the engagement surface 151 of the first wedge 150 may contact each other to limit relative movement between the first pin 140 and the coupler 930. In some embodiments, contact between the engagement surface 151 of the first wedge 150 and the engagement surface 141 of the first pin 140 may limit or prevent relative movement between the first pin 940 and the coupler 930.

In some embodiments, the first wedge 150 may be disposed within the second bore 934 such that the engagement surface 151 of the wedge 150 may contact the engagement surface 141 of the first pin 140 and sufficient axial force may be applied to the first wedge 150 to preload the first pin 140 in a direction opposite the primary tensile load of the biaxial joint 900. In some embodiments, the preload applied to the first pin 140 may be sufficient to bend a first pair of arms (one shown, 931) disposed proximate to a first end of the coupler 930 apart or away from each other. In such embodiments, the load applied to the first pin 140 may decrease as an external tensile load is applied to the biaxial joint 900. It has been found that preloading the first pin 140 via the wedge 150 may facilitate significantly reducing the overall size of the biaxial joint 900. More specifically, preloading the first pin 140 via the wedge 150 may reduce the overall size of the biaxial joint 100 such that the weight of the biaxial joint 900 may be less than the weight of a comparative biaxial joint configured in the same manner except that the second hole 834 and the first wedge 150 are not present to preload the first pin 840 by > 5 wt%, > 10 wt%, > 15 wt%, > 20 wt%, > 25 wt%, > 30 wt%, > 35 wt% or > 40 wt%. The force used to install wedge 150 and achieve the desired preload may be applied via any number of methods, including screw jack mechanisms, hydraulic cylinders or jacks, impact forces, or other similar devices. Since relative movement between the first pin 140 and the coupler 930 may be limited or prevented, the need for bushings between the first pin 140 and the inner surface of the bore (one, 931 is shown) defined by the coupler 930 may be eliminated.

In some embodiments, the dual-axis joint 900 may include a second wedge 850 disposed within a second aperture 922 defined by the lug 920. The third hole 935 of the coupler 930 and the second hole 922 of the lug 920 may be arranged or configured such that the second wedge 850 and the second pin 160 may contact each other. For example, the second pin 160 may include an engagement surface 141 formed on a portion of the outer surface 142 thereof, and the second wedge 850 may include an engagement surface 151 formed on the outer surface 152 thereof, such that the engagement surface 141 of the second pin 160 and the engagement surface 151 of the second wedge 850 may contact each other to limit relative movement between the second pin 160 and the lug 920. In some embodiments, contact between the engagement surface 151 of the second wedge 850 and the engagement surface 141 of the second pin 160 may limit or prevent relative movement between the second pin 160 and the lug 920. Since relative movement between the second pin 160 and the lugs 920 may be limited or prevented, the need for bushings between the outer surface of the second pin 160 and the holes 935 defined by the lugs 920 may be eliminated. As shown in fig. 9, in some embodiments, the second wedge 850 may be placed or positioned in a position on the same side of the second pin 160 as the second member M2. In other embodiments, the second wedge 850 may be placed or positioned on a side of the second pin 160 that may be opposite the location of the second member M2 (not shown). In some embodiments, bushings 942, 941 may be disposed between the inner surface of each aperture defined by the second pair of arms 937, 936, respectively, and the outer surface of the second pin 160. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

Fig. 10 depicts the biaxial joint 100 shown in fig. 1 according to one or more embodiments, further including cover plates 1005, 1010 disposed over the first and second pins 140, 160 and cover plate 1030 disposed over the wedge 150 within the biaxial joint 100. The cover plates 1005, 1010 may be used to secure the first and second pins 140, 160 within the apertures defined by the first and second clevis 110, 120. The cover plates 1005, 1010 may be secured to the outer surfaces of the first and second clevis (110, 120) as shown, or directly to the ends (not shown) of each pin 140, 160. The cover plates 1005, 1010 may be attached to the clevis 110, 120 or pin 140, 160 by at least one bolt, threaded screw, cap screw, or other mechanical fastener 1020. In some embodiments, the end caps 1005, 1010, 1030 may be equipped with seals (not shown) to retain debris, external environment, moisture, or water outside of the space between the clevis 110, 120 and the pins 140, 160 in the case of a subsea application. It should be appreciated that additional cover plates may be disposed over opposite ends of the first and second pins 140, 160, and if the aperture in which the wedge 150 is disposed extends through the coupler 130, additional cover plates may also be disposed over opposite ends of the aperture.

Fig. 11 depicts a perspective cross-sectional view of another exemplary biaxial joint 1100 connected to a first member M1 and a second member M2 in accordance with one or more embodiments. The dual-axis joint 1100 may include a first lug 1110, a second lug 1120, a coupler 1130, a first pin 140, a first wedge 150, a second pin 160, and an optional second wedge 850. The biaxial joint 1100 may allow the first member M1 to articulate relative to the second member M2 about two non-parallel, non-intersecting axes while transmitting axial forces, shear forces, torque, or a combination thereof from the first member M1 to the second member M2 and/or from the second member M2 to the first member M1.

The first tab 1110 may be engaged, fastened, or otherwise connected to the first member M1, and the second tab 1120 may be engaged, fastened, or otherwise connected to the second member M2. In some embodiments, the connection between the first tab 1110 and the first member M1 and the connection between the second tab 1120 and the second member M2 may be static such that the first tab 1110 does not move relative to M1 and the second tab 1120 does not move relative to M2. Suitable connection systems or methods may include, but are not limited to, welding, bolts and nuts, rivets, pins, screws, mechanical connectors (such as socket connectors), adhesives, and the like.

The first tab 1110 can define a first aperture 1111 therethrough and a second aperture 1112 at least partially therethrough. The first hole 1111 and the second hole 1112 defined by the first lug 1110 may partially intersect each other. In some embodiments, the first aperture 111 and the second aperture 1112 may be substantially orthogonal to each other. The second lug 1120 can define a first aperture 1121 therethrough and, optionally, a second aperture 1122 at least partially therethrough. When the second lug 1120 defines an optional second aperture 1122, the first aperture 1121 and the second aperture 1122 defined by the coupler 1120 may partially intersect one another. In some embodiments, when the second tab 1120 defines an optional second aperture 1122, the first aperture 1121 and the second aperture 1122 may be substantially orthogonal to each other. The coupler 1130 and the first and second pins 140, 160 may be or otherwise provide a structural connection or interlock between the first and second lugs 1110, 1120.

The coupler 1130 may include a first pair of arms (one shown, 1140) disposed proximate a first end of the coupler 1130, which may define a first pair of apertures (one aperture (1133) located on a back side of the arm 1140) and a second pair of arms 1142, 1143 disposed proximate a second end of the coupler 1130, which may define a second pair of apertures 1135, 1136. The first and/or second pairs of holes defined by the coupler 1130 may be axially aligned with each other. In some embodiments, the first pair of holes defined by the coupler 1130 and the second pair of holes defined by the coupler 1130 may each pass entirely therethrough. In other embodiments, one of the first pair of holes and/or one of the second pair of holes defined by the coupler 1130 may pass entirely therethrough, and the other of the first pair of holes and/or the other of the second pair of holes defined by the coupler 1130 may pass partially therethrough.

The coupler 1130 may be connected to the first ledge 1110 by placing, positioning, or otherwise disposing the first pin 140 within the first aperture 1111 and an axially aligned aperture (1133 shown in fig. 11) defined by the first pair of arms of the coupler 1130. The coupler 1130 may be connected to the second lobe 1120 by placing, positioning, or otherwise disposing the second pin 160 within the bore 1121 of the second lobe 1120 and the axially aligned bores 1135, 1136 defined by the second pair of arms 1142, 1143 of the coupler 1130. When in use, loads and/or forces on the dual-axis joint 1100 may be transferred between the first tab 1110 and the coupler 1130 through the first pin 140. Similarly, when in use, loads and/or forces on the dual-axis joint 1100 may be transferred between the second lug 1120 and the coupler 1130 via the second pin 160. In some embodiments, a first pair of axially aligned holes (1133 shown in fig. 11) defined by the coupler 1130 and a second pair of axially aligned holes 1135, 1136 defined by the coupler 1130 may be substantially orthogonal to each other.

The first wedge 150 may be disposed within a second aperture 1112 defined by the first ledge 1110. The first hole 1111 and the second hole 1112 defined by the first lug 1110 may be arranged or configured such that the first wedge 150 and the first pin 140 may contact each other. For example, the first pin 140 may include an engagement surface 141 formed on a portion of the outer surface 142 thereof, and the first wedge 150 may include an engagement surface 151 formed on the outer surface 152 thereof, such that the engagement surface 141 of the first pin 140 and the engagement surface 151 of the first wedge 150 may contact each other to limit relative movement between the first pin 140 and the first ledge 1110. In some embodiments, contact between the engagement surface 151 of the first wedge 150 and the engagement surface 141 of the first pin 140 may limit or prevent relative movement between the first pin 140 and the first ledge 1110.

In some embodiments, the first wedge 150 may be disposed within the second aperture 1112 such that the engagement surface 151 of the wedge 150 may contact the engagement surface 141 of the first pin 140 and sufficient axial force may be applied to the first wedge 150 to preload the first pin 140 in a direction aligned with the primary tensile load of the biaxial joint 1100. In other embodiments, the first wedge 150 may be disposed within the second aperture 1112 such that the engagement surface 151 of the wedge 150 may contact the engagement surface 141 of the first pin 140 and sufficient axial force may be applied to the first wedge 150 to preload the first pin 140 in a direction opposite the primary tensile load of the biaxial joint 1100.

The force for installing the wedge 150 and achieving the desired preload may be applied via any number of methods, including screw jack mechanisms, hydraulic cylinders or jacks, impact forces, or other similar devices. Since relative movement between the first pin 140 and the first ledge 1110 may be limited or prevented, the need for a bushing between the outer surface of the first pin 140 and the inner surface of the bore 1111 defined by the first ledge 1110 may be eliminated. In some embodiments, the second aperture 1112 and the first wedge 150 may be placed or positioned on a side of the pin 140 opposite the first member M1 such that the first wedge 150 may be positioned between the first pin 140 and the second pin 160 (not shown). In other embodiments, the first wedge 150 may be placed or positioned on the same side of the pin 140 as the first member M1, as shown in fig. 11.

In some embodiments, the dual-axis joint 1100 may include an optional second wedge 850, which may be disposed within an optional second aperture 1122 defined by the second lug 1120. The second aperture 1122 defined by the second lug 1120 may be arranged or configured such that the second wedge 850 and the second pin 160 may contact each other. The second hole 1122 of the second lug 1120 may be arranged or configured such that the second pin 160 may include an engagement surface 141 formed on a portion of the outer surface 142 thereof, and the second wedge 850 may include an engagement surface 151 formed on the outer surface 152 thereof such that the engagement surface 141 of the second pin 160 and the engagement surface 151 of the second wedge 850 may contact each other to limit relative movement between the second pin 160 and the second lug 1120. In some embodiments, contact between the engagement surface 151 of the second wedge 850 and the engagement surface 141 of the second pin 160 may limit or prevent relative movement, such as rotation, between the second pin 160 and the second ledge 1120. In some embodiments, since relative movement between second pin 160 and second lobe 1120 may be limited or prevented, the need for bushings between second pin 160 and the inner surface of second bore 1121 defined by second lobe 1120 may be eliminated. In some embodiments, the optional second aperture 1122 and the second wedge 850 may be placed or positioned on a side of the second pin 160 opposite the second member M2 such that the second wedge 850 may be positioned between the first pin 140 and the second pin 160 (not shown). In other embodiments, the optional second aperture 1122 and the optional second wedge 850 may be placed or positioned on the same side of the pin 160 as the second member M2, as shown in fig. 11. In some embodiments, a bushing 1151, 1152 may be disposed between an inner surface of each arm of the second pair of arms 1142, 1143 and the second pin 160. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

Fig. 12 depicts a perspective view of an exemplary coupler 1200 defining a first aperture 1201 and a second aperture 1202 proximate a first end thereof and a third aperture 1203 proximate a second end thereof, in accordance with one or more embodiments. In some embodiments, the first aperture 1201 defined by the coupler 1200 and the third aperture 1203 defined by the coupler 1200 may each pass completely therethrough, and the second aperture 1202 defined by the coupler 1200 may pass partially therethrough or completely therethrough. The first hole 1201 and the second hole 1202 may partially intersect each other. In some embodiments, the location of the partial intersection between the first aperture 1201 and the second aperture 1202 may be centered relative to the length of the first aperture 1201 between its first and second ends. In other embodiments, the location of the partial intersection between the first aperture 1201 and the second aperture 1202 may be closer to the first end or the second end of the first aperture 1201 such that the partial intersection is not centered along the length of the first aperture 1201.

The coupler 1200 may include a first tab 1204 disposed proximate a first end of the coupler 1200 and a second tab 1205 disposed proximate a second end of the coupler 1200. The first ledge 1204 may define a first aperture 1201 and a second aperture 1202. The first hole 1201 may be configured to receive the pin 140, the pin 140 including the engagement surface 141. Coupler 1200 may be configured to connect to a first member, such as M1 described above, by: the pin 140 is placed, positioned, or otherwise disposed within a corresponding aperture defined by the first aperture 1201 and a pair of arms of the first member M1 or clevis 110 connected to the first member M1. Similarly, coupler 1200 may be connected to the second member by, for example, M2 as described above: pins (e.g., pins 140 with or without engagement surfaces) are placed, positioned, or otherwise disposed within the third aperture 1203 and a pair of corresponding apertures defined by the second member M2 or a pair of arms of the clevis 120 connected to the second member M2. The second aperture 1202 may be configured to receive the wedge 150. When the pin 140 and the wedge 150 are disposed within the first and second apertures 1201, 1202, respectively, the partial intersection of the first and second apertures 1201, 1202 may allow the engagement surface 151 of the wedge 150 to contact the engagement surface 141 of the pin 140, such that relative movement between the pin 140 and the coupler 1200 may be limited or prevented.

In some embodiments, the first aperture 1201 and the third aperture 1203 may be oriented substantially orthogonal with respect to each other. In some embodiments, the first aperture 1201 and the second aperture 1202 may be oriented substantially orthogonal to each other.

In some embodiments, when the pin 140 is disposed within the first bore 1201, the first bore 1201 may be devoid of any bushings between the inner surface of the first bore 1201 and the outer surface 142 of the pin 140. It has been found that by applying a sufficient amount of axial force to the wedge 150, the need for a bushing between the outer surface 142 of the pin 140 and the inner surface of the first bore 1201 can be eliminated. In other embodiments, when the pin 140 is disposed within the first bore 1201, the first bore 1201 may include a bushing disposed between an inner surface of the first bore 1201 and the outer surface 142 of the pin 140. In some embodiments, when a bushing is disposed within the first bore 1201 between the inner surface of the first bore 1201 and the outer surface 142 of the pin 140, the bushing may define a slot or other aperture partially therethrough to allow the engagement surface 151 of the wedge 150 to contact the engagement surface 141 of the pin 140.

Fig. 13 and 14 depict perspective views of an exemplary coupler 1300 in accordance with one or more embodiments, the coupler 1300 defining a recess 1307 at a first end of the coupler 1300. In some embodiments, coupler 1300 may define a first hole 1301 and a second hole 1302 disposed proximate to a first end thereof, and a third hole 1303 and an optional fourth hole 1304 disposed proximate to a second end thereof. In some embodiments, the first hole 1301 and the third hole 1303 defined by the coupler 1300 may each pass completely therethrough, and the second hole 1302 and the optional fourth hole 1304 defined by the coupler 1300 may pass partially therethrough or completely therethrough. In some embodiments, the first hole 1301 and the third hole 1303 may be oriented substantially orthogonal to each other. In some embodiments, first hole 1301 and second hole 1302 may be oriented substantially orthogonal to each other. In some embodiments, the third aperture 1303 and the optional fourth aperture 1304 (if present) may be oriented substantially orthogonal to each other.

The first hole 1301 and the second hole 1302 may partially intersect each other. When the coupler 1300 includes an optional fourth aperture 1304, the third aperture 1303 and the fourth aperture 1304 may partially intersect each other. In some embodiments, the location of the partial intersection between first hole 1301 and second hole 1302 may be centered with respect to the length of first hole 1301 between its first and second ends. In other embodiments, the location of the partial intersection between first hole 1301 and second hole 1302 may be closer to the first end or the second end of first hole 1301 such that the partial intersection is not centered along the length of first hole 1301. In some embodiments, when an optional fourth aperture 1304 is present, the location of the partial intersection between the third aperture 1303 and the fourth aperture 1304 may be centered relative to the length of the third aperture 1303 between its first and second ends. In other embodiments, when an optional fourth aperture is present, the location of the partial intersection between the third aperture 1303 and the fourth aperture 1304 may be closer to the first end or the second end of the third aperture 1303 such that the partial intersection is not centered along the length of the third aperture 1303.

In some embodiments, the coupler 1300 may include a first lug 1305 disposed at a first end thereof and a second lug 1306 disposed at a second end thereof. Coupler 1300 may be connected to the first member, such as M1 described above, by: the pin 140 is placed, positioned, or otherwise disposed within the first hole 1301 and the pair of corresponding holes defined by the first member M1 or the first clevis 110 connected to M1. Similarly, coupler 1300 may be connected to the second member, such as M2 described above, by: the pin 140 is placed, positioned or otherwise disposed within a corresponding aperture defined by the third aperture 1303 and the second member M2 or the second clevis 120 coupled to M2. Second aperture 1302 may be configured to receive wedge 150. When pin 140 and wedge 150 are disposed within first hole 1301 and second hole 1302, respectively, the partial intersection of first hole 1301 and second hole 1302 may allow engagement surface 151 of wedge 150 to contact engagement surface 141 of pin 140 such that relative movement between pin 140 and coupler 1300 disposed within the first hole may be limited or prevented.

In some embodiments, grooves 1307 may be oriented substantially orthogonal to the longitudinal axis of first hole 1301. In some embodiments, the first ledge 1305 may define a recess 1307, as shown in fig. 13. In other embodiments, the first ledge 1305 may define a groove 1307 such that the groove 1307 and the first hole 1301 partially intersect each other, for example, as shown in fig. 7.

In some embodiments, an optional fourth aperture 1304 (when present) may be configured to receive wedge 150. When the pin 140 and the wedge 150 are disposed within the third and fourth apertures 1303, 1304, respectively, the partial intersection of the third and fourth apertures 1303, 1304 may allow the engagement surface 151 of the wedge 150 to contact the engagement surface 141 of the pin 140, such that relative movement between the pin 140 disposed within the third aperture 1303 and the coupler 1300 may be restricted or prevented.

In some embodiments, when pin 140 is disposed within first hole 1301, first hole 1301 may be devoid of any bushing between an inner surface of first hole 1301 and outer surface 142 of pin 140. In some embodiments, when the pin 140 is disposed within the third bore 1303, the third bore 1303 may be devoid of any bushings between an inner surface of the third bore 1303 and an outer surface 142 of the pin 140. In some embodiments, if a bushing is disposed within first bore 1301 between the inner surface of first bore 1301 and outer surface 142 of pin 140, the bushing may define a slot or other aperture partially therethrough to allow engagement surface 151 of wedge 150 to contact engagement surface 141 of pin 140.

Fig. 15 and 16 depict perspective views of an exemplary coupler 1500 according to one or more embodiments, the coupler including a tab 1505 at a first end thereof defining a recess 1508 and a first aperture 1501 partially intersecting one another and a pair of arms 1506, 1507 at a second end thereof defining a pair of axially aligned apertures 1503, 1504. The tab 1505 may define a first aperture 1501 therethrough and a second aperture 1502 at least partially therethrough. The first and second holes 1501 and 1502 may partially intersect each other. As shown in fig. 15 and 16, the groove 1507 may intersect the first bore 1501 partially such that a portion of the inner surface of the first bore extending from its first end to its second end is discontinuous, the portion of the inner surface being opposite the partial intersection of the first bore 1501 and the second bore 1502. However, in other embodiments, the groove 1507 may be configured such that it does not intersect the first bore 1501 (not shown) such that the inner surface of the first bore 1501 opposite the partial intersection of the first bore 1501 and the second bore 1502 is continuous.

Coupler 1500 may be connected to a first member, such as M1 described above, by: the pin 140 is placed, positioned, or otherwise disposed within a first aperture 1501 and a corresponding aperture defined by the first member M1 or the first clevis 110 connected to M1. Similarly, coupler 1500 may be connected to a second member, such as M2 described above, by: the pin 140 is placed, positioned, or otherwise disposed within a pair of axially aligned holes 1503, 1504 defined by a pair of arms 1506, 1507 and a hole defined by a second member M2 or a lug 920 connected to M2.

In some embodiments, the central axis of the first bore 1501 and the central axis of the second bore 1502 defined by the coupler 1500 may be oriented substantially orthogonal to each other. In some embodiments, the central axis of the first bore 1501 defined by the coupler 1500 and the central axes of the axially aligned bores 1503, 1504 defined by the pair of arms 1505, 1506 may be oriented substantially orthogonal to one another.

In some embodiments, when the pin 140 is disposed within the first bore 1501, the first bore 1501 may be devoid of any bushing between the inner surface of the first bore 1501 and the outer surface 142 of the pin 140. It has been found that by applying a sufficient amount of axial force to the wedge 150, the need for a bushing between the outer surface 142 of the pin 140 and the inner surface of the first bore 1501 can be eliminated. In other embodiments, when the pin 140 is disposed within the first bore 1501, the bore 1501 may include a bushing disposed between an inner surface of the first bore 1501 and the outer surface 142 of the pin 140. In some embodiments, when a bushing is disposed within the first bore 1501 between the inner surface of the first bore 1501 and the outer surface 142 of the pin 140, the bushing may define a slot or other aperture partially therethrough to allow the engagement surface 151 of the wedge 150 to contact the engagement surface 141 of the pin 140.

Fig. 17 depicts a partial cross-sectional view of a biaxial joint 1700 according to one or more embodiments. The biaxial joint 1700 may be configured to provide a hinged connection between the first member M1 and the second member M2 about two axes of rotation. The biaxial joint may include a coupler 1710, a first pin 140, a second pin 160, a first wedge 150, and a second wedge 1740.

The coupler 1710 may include a first pair of arms (one shown, 1711) disposed proximate a first end of the coupler 1710, which may define a first pair of axially aligned holes (one (1713) located on a back side of the arm 1711) and a second pair of arms 1715, 1716 disposed proximate a second end of the coupler 1710, which may define a second pair of axially aligned holes 1717, 1718. In some embodiments, a first pair of axially aligned holes defined by coupler 1710 and a second pair of axially aligned holes defined by coupler 1710 may each pass entirely therethrough. In other embodiments, one of the apertures defined by the first pair of arms and one of the apertures defined by the second pair of arms may pass entirely therethrough, and the other aperture defined by the first pair of arms and/or the other aperture defined by the second pair of arms may pass partially therethrough.

The coupler 1710 may be connected to the first member M1 by placing, positioning, or otherwise disposing the first pin 140 within an axially aligned bore (one shown, 1713) defined by a first pair of arms (one shown, 1711) of the coupler 1710 and a first bore 1720 defined by the first member M1. The coupler 1710 may be connected to the second member by placing, positioning, or otherwise disposing the second pin 160 within the axially aligned bores 1717, 1718 defined by the second pair of arms 1715, 1716 of the coupler 1710 and the first bore 1730 defined by the second member M2. The first member M1 can define a second aperture 1721 configured to receive the first wedge 150, and the second member M2 can define a second aperture 1731 configured to receive the second wedge 1740. The first hole 1720 and the second hole 1721 defined by the first member M1 may partially intersect each other. The first and second holes 1730 and 1731 defined by the second member M2 may partially intersect each other. In some embodiments, the biaxial joint 1700 may include a first wedge 150 disposed within a second hole 1721 defined by the first member M1 such that the engagement surface 151 of the first wedge 150 may contact the engagement surface 141 of the first pin 140 to limit or prevent relative movement between the first pin 140 and the first member M1. The biaxial joint 1700 may further include a second wedge 1740 disposed within a second hole 1731 defined by the second member M2 such that an engagement surface 1741 of the second wedge 1740 may contact the engagement surface 161 of the second pin 160 to limit relative movement between the second pin 160 and the second member M2. In some embodiments, the central axes of a first pair of axially aligned holes (one shown, 1713) defined by a first pair of arms (one shown, 1711) and the central axes of a second pair of axially aligned holes 1717, 1718 defined by a second pair of arms 1715, 1716 are oriented substantially orthogonal to each other.

In some embodiments, bushings 1761, 1762 may be disposed between the inner surface of each bore defined by the second pair of arms 1717, 1718, respectively, and the outer surface of the second pin 160. Similarly, in some embodiments, a bushing (not visible in fig. 17) may be disposed between the inner surface of each aperture defined by the first pair of arms (one arm 1711 is shown) and the outer surface of the first pin 140. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

Fig. 18 depicts a perspective view of an exemplary chain table CT, which may be configured to be connected to a mooring turret (not shown), having a plurality of double-shaft joints 1800 connected thereto, in accordance with one or more embodiments. Chain table CT may also be referred to as a first member to which a plurality of biaxial joints 1800 may be configured to connect at a first end thereof. The plurality of biaxial joints 1800 may also be configured to connect to a second member (not shown) at a second end thereof, such as a plurality of corresponding chains or other elongated members that may be configured to connect to the seafloor or other mooring points.

Fig. 19 depicts a perspective view of one of the biaxial joint 1800 shown in fig. 18 in accordance with one or more embodiments. Fig. 20 depicts a cross-sectional view of the biaxial joint 1800 shown in fig. 19. The dual-axis joint 1800 may include a coupler 1810, a first pin 140, a first wedge 150, a second pin 160, an arm 1860, and a second wedge 1850.

The coupler 1810 may include a lug 1811 disposed at a first end of the coupler 1810 and a pair of arms 1812, 1813 disposed at a second end of the coupler 1810. The lugs 1811 can define a first aperture 1814 therethrough and a second aperture 1815 at least partially therethrough. The pair of arms 1812, 1813 may define a pair of axially aligned holes 1816 and 1817 therethrough. The first and second holes 1814 and 1815 defined by the coupler 1810 may partially intersect each other. In some embodiments, the coupler 1800 may also define a recess 1818, which may be orthogonal to the longitudinal axis of the first bore 1814. In some embodiments, the recess 1818 may partially intersect the first hole 1814 (not shown). In other embodiments, as shown, the recess 1818 does not intersect the first hole 1814 defined by the coupler 1800.

The first pin 140 may be disposed within a first bore 1814 and a corresponding pair of axially aligned bores 1870, 1871 (shown in fig. 18) defined by the chain table CT. The first pin 140 may have an engagement surface 141 formed on a portion of the outer surface 142 of the first pin 140 between the first end 143 and the second end 144 of the first pin 140. The first wedge 150 may be disposed within the second aperture 1815. The first wedge 150 may have an engagement surface 151 formed on an outer surface 151 of the first wedge 150 between a first end 153 and a second end 154 of the first wedge 150. The engagement surface 151 of the first wedge 150 may contact the engagement surface 141 of the first pin 140, thereby limiting movement between the first pin 140 and the coupler 1810. In some embodiments, the central axis of the first bore 1814 defined by the coupler 1810 and the central axes of the axially aligned bores 1816, 1817 defined by the coupler 1810 may be oriented substantially orthogonal to one another. In some embodiments, the central axis of the first bore 1814 defined by the coupler 1810 and the central axis of the second bore 1815 defined by the coupler 1810 may be oriented substantially orthogonal to each other.

The arm 1860 may define a first aperture 1851 therethrough and a second aperture 1852 at least partially therethrough disposed proximate a first end of the arm 1860 and a third aperture 1853 therethrough disposed proximate a second end of the arm 1860. The arm 1860 may be configured to receive, connect, or otherwise attach to a second member, such as a chain or other member, at the second end. The connection between the second member and the arm 1850 may be via a shackle, h-connector, grommet, or other similar connection means.

The second pin 160 may be disposed within a pair of axially aligned holes 1816, 1817 defined by the coupler 1810 and the first hole 1851 of the arm 1860. The second pin 160 may have an engagement surface 161 formed on a portion of an outer surface of the second pin 160 between the first and second ends of the second pin 160. The second wedge 1850 may be disposed within the second bore 1852 of the arm 1860. The second wedge 1850 may have an engagement surface 1861 formed on an outer surface of the second wedge 1850 between the first and second ends of the second wedge 1850. The engagement surface 1861 of the second wedge 1850 may contact the engagement surface 161 of the second pin 160, thereby limiting or preventing movement between the second pin 160 and the arm 1860.

In some embodiments, the central axis of the first bore 1851 defined by the arm 1860 and the central axis of the third bore 1853 defined by the arm 1860 may be oriented substantially orthogonal to each other. In some embodiments, the central axis of the first bore 1851 defined by the arm 1860 and the central axis of the second bore 1852 defined by the arm 1860 may be oriented substantially orthogonal to each other.

In some embodiments, bushings 1881, 1882 may be disposed between the inner surface of each bore 1817, 1816 defined by the pair of arms 1812, 1813, respectively, and the outer surface 162 of the second pin 160. Similarly, in some embodiments, a pair of bushings (not visible) may be disposed between the inner surface of each bore 1870, 1871 defined by the CT and the outer surface 142 of the first pin 140. The bushings may be made of bronze, brass, polymer, fiber reinforced composite, or any other suitable material.

The present disclosure also relates to any one or more of the following numbered embodiments:

1. A coupler configured to provide a hinged connection between a first member and a second member about two axes of rotation, comprising a first end defining a first aperture therethrough and a second aperture at least partially therethrough, wherein the first and second apertures partially intersect one another; and a second end defining a third aperture therethrough.

2. The coupler of paragraph 1, wherein a central axis through the first bore and a central axis through the second bore are substantially orthogonal to each other.

3. The coupler of paragraph 1 or paragraph 2, wherein a central axis through the first bore and a central axis through the third bore are substantially orthogonal to each other.

4. The coupler of any one of paragraphs 1 to 3, wherein the first end includes a ledge such that at least a portion of the inner surface of the first bore extending from the first end to the second end is continuous, and wherein the second end includes a ledge such that at least a portion of the inner surface of the third bore extending from the first end to the second end is continuous.

5. The coupler of any one of paragraphs 1 to 4, wherein the first end defines a groove that is substantially orthogonal to a central axis of the first bore.

6. The coupler of paragraph 4 or 5, wherein the groove intersects the first bore portion such that a portion of an inner surface of the first bore extending from a first end to a second end thereof is discontinuous, the portion of the inner surface being opposite the intersection of the first bore and the portion of the second bore.

7. The coupler of any one of paragraphs 1 to 6, wherein the first aperture is configured to receive a pin, the pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof, the second aperture is configured to receive a wedge, the wedge includes an engagement surface formed on a portion of an outer surface of the wedge between a first end and a second end thereof, and the partial intersection between the first aperture and the second aperture is configured to allow the engagement surface of the wedge to contact the engagement surface of the pin when the pin and the wedge are disposed within the first aperture and the second aperture, respectively.

8. The coupler of any one of paragraphs 1 to 6, further comprising a first pin disposed within the first bore of the coupler, wherein the first pin comprises an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; and a first wedge disposed within the second bore, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the partial intersection between the first bore and the second bore allows the engagement surface of the first wedge to contact the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler.

9. The coupler of paragraph 8, further comprising a second pin disposed within the third bore of the coupler.

10. The coupler of any one of paragraphs 1 to 9, wherein the second end of the coupler further defines a fourth aperture therethrough at least partially, the fourth aperture being configured to receive a second wedge, the second wedge including an engagement surface formed on a portion of an outer surface of the second wedge intermediate its first and second ends, the third aperture and the fourth aperture intersecting one another partially, a central axis passing through the third aperture and a central axis passing through the fourth aperture being substantially orthogonal to one another, and the partial intersection between the third aperture and the fourth aperture being configured to allow the engagement surface of the second wedge to contact the engagement surface of the pin when the pin and the wedge are disposed within the third aperture and the fourth aperture, respectively.

11. The coupler of any one of paragraphs 1-6 or paragraph 8, wherein the second end of the coupler further defines a fourth aperture at least partially therethrough, and wherein the third aperture and the fourth aperture partially intersect one another; the coupler further includes a second pin disposed within the third bore of the coupler, wherein the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between a first end and a second end thereof, a second wedge disposed within the fourth bore, wherein the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between a first end and a second end thereof, and wherein the partial intersection between the third bore and the fourth bore allows the engagement surface of the second wedge to contact the engagement surface of the second pin, thereby limiting relative movement between the second pin and the coupler.

12. The coupler of paragraph 1, wherein the first end includes a lug and the second end includes a pair of arms, wherein the pair of arms define an axially aligned bore therethrough such that the third bore is defined by the pair of arms, and wherein the lug defines the first bore therethrough and the second bore at least partially therethrough.

13. The coupler of paragraph 12, wherein a central axis through the first bore and a central axis through the second bore are substantially orthogonal to each other.

14. The coupler of paragraph 12 or paragraph 13, wherein at least a portion of the inner surface of the first bore extending from the first end to the second end thereof is continuous.

15. The coupler of any one of paragraphs 12 to 14, wherein the first end defines a groove that is substantially orthogonal to a central axis of the first bore.

16. The coupler of paragraph 15, wherein the groove partially intersects the first aperture such that a portion of an inner surface of the first aperture extending from a first end thereof to a second end thereof is discontinuous, the portion of the inner surface being opposite the portion of the first aperture intersecting the second aperture.

17. The coupler of any one of paragraphs 12 to 16, wherein: the first aperture is configured to receive a first pin, the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof, the second aperture is configured to receive a first wedge, the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and the partial intersection between the first aperture and the second aperture is configured to allow the engagement surface of the first wedge to contact the engagement surface of the first pin when the first pin and the first wedge are disposed within the first aperture and the second aperture, respectively.

18. The coupler of any one of paragraphs 12 to 16, further comprising:

A first pin disposed within the first bore of the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; and a first wedge disposed within the second bore, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the partial intersection between the first bore and the second bore allows the engagement surface of the first wedge to contact the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler.

19. A biaxial joint comprising: a coupler comprising a lug disposed at a first end thereof and a pair of arms disposed at a second end thereof, wherein the lug defines a first aperture therethrough and a second aperture at least partially therethrough, wherein the first aperture and the second aperture partially intersect each other, and wherein the pair of arms define a pair of axially aligned apertures therethrough, a first pin disposed within the first aperture, wherein the first pin includes an engagement surface formed on a first portion of an outer surface of the first pin between the first end and the second end thereof, a first wedge disposed within the second aperture, wherein the first wedge includes an engagement surface formed on a first portion of an outer surface of the first wedge between the first end and the second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler, a first aperture therethrough and a second arm at least partially passing therethrough, wherein the first arm defines an engagement surface between the first arm and the second arm between the first end and the second end, wherein the pair of arms defines an engagement surface between the first arm and the second end, wherein the engagement surface of the first wedge and the second arm defines an engagement surface between the first pin and the second arm and the second end, the engagement surface of the first wedge and the second arm comprises an engagement surface between the first pin and the second pin, and wherein the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the arm.

20. The biaxial joint of paragraph 20 wherein the central axis through the first bore defined by the lugs and the central axes through the pair of axially aligned bores defined by the pair of arms are substantially orthogonal to each other.

21. The biaxial joint of paragraph 19 or paragraph 20 wherein the central axis through the first hole defined by the lugs and the central axis through the second hole defined by the lugs are substantially orthogonal to each other.

22. The biaxial joint of any of paragraphs 19 to 21, wherein a central axis of the first hole through the arm and a central axis of the second hole through the arm are substantially orthogonal to each other.

23. The biaxial joint of any of paragraphs 19 to 22, wherein the first end of the lug defines a groove that is substantially orthogonal to a central axis of the first bore.

24. A biaxial joint comprising: a first clevis including a pair of arms defining axially aligned apertures therethrough; a second clevis including a pair of arms defining axially aligned apertures therethrough; a coupler defining a first aperture therethrough, a second aperture at least partially therethrough, and a third aperture therethrough, wherein the first and second apertures are disposed proximate a first end of the coupler and the third aperture is disposed proximate a second end of the coupler; a first pin disposed within the aperture and the first aperture of the first clevis, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a wedge disposed within the second bore, wherein the wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler; and a second pin disposed within the aperture and the third aperture of the second clevis.

25. The biaxial joint of paragraph 24 wherein the central axis through the first hole is non-parallel to the central axis through the third hole and does not intersect each other.

26. The biaxial joint of paragraph 24 or paragraph 25 wherein the central axis through the first hole is in a first plane and the central axis through the third hole is in a second plane, wherein the first plane and the second plane are parallel to each other, and wherein the central axis through the first hole and the central axis through the third hole are oriented 90 degrees to each other when viewed along an axis perpendicular to the first plane and the second plane.

27. The biaxial joint of any of paragraphs 24 to 26, wherein the thickness of the first end of the wedge is less than the thickness of the second end of the wedge such that the engagement surface of the wedge tapers along the longitudinal axis of the wedge.

28. The biaxial joint of any of paragraphs 24 to 27, wherein a force is applied to the wedge to position at least a portion of the engagement surface of the wedge into contact with at least a portion of the engagement surface of the first pin.

29. The biaxial joint of paragraph 28 wherein the force applied to the wedge is sufficient to preload the first pin in a direction opposite the load on the first pin when the biaxial joint is subjected to an external tensile load.

30. The biaxial joint of any of paragraphs 24 to 29, wherein the first end of the coupler comprises a pair of arms defining axially aligned holes therethrough such that the first hole is defined by the pair of arms of the first end of the coupler.

31. The biaxial joint of any one of paragraphs 24 to 27 wherein: the first end of the coupler includes a pair of arms defining an axially aligned bore therethrough such that the first bore is defined by the pair of arms of the first end of the coupler, a force is applied to the wedge to position at least a portion of the engagement surface of the wedge in contact with at least a portion of the engagement surface of the first pin, and the pair of arms of the first end of the coupler flex away from one another when the first pin is preloaded.

32. The biaxial joint of any one of paragraphs 24 to 31 wherein: the wedge includes a generally cylindrical body having a first end and a second end, the engagement surface of the wedge being disposed at least partially along a length of the generally cylindrical body between the first and second ends thereof, and the first, second, or at least a portion of the first and second ends of the wedge having a frustoconical outer surface.

33. The biaxial joint of any of paragraphs 1 to 32, further comprising a pair of bushings, each bushing disposed between an outer surface of the first pin and an inner surface of each arm of the first clevis, the arms of the clevis defining axially aligned holes therethrough, and wherein the inner surface of the first end of the coupler defining the first hole therethrough is in direct contact with the outer surface of the first pin.

34. The biaxial joint of any of paragraphs 24 to 33, wherein an outer surface of the first pin is in direct contact with an inner surface of the coupler defining the first hole.

35. The biaxial joint of any of paragraphs 24 to 34, further comprising a bushing disposed between an outer surface of the first pin and an inner surface of the coupler defining the first bore.

36. The biaxial joint of any of paragraphs 24 to 35, wherein the coupler further defines a fourth aperture at least partially therethrough and disposed proximate the second end thereof, the biaxial joint further comprising a second wedge disposed within the fourth aperture, wherein: the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between the first and second ends thereof, the second pin further includes an engagement surface formed on a portion of an outer surface of the second pin between the first and second ends thereof, and the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the coupler.

37. The biaxial joint of paragraph 36 wherein the thickness of the first end of the second wedge is less than the thickness of the second end of the second wedge such that the engagement surface of the second wedge tapers along the longitudinal axis of the second wedge.

38. The biaxial joint of paragraph 36 or paragraph 37 wherein a force is applied to the second wedge to position at least a portion of the engagement surface formed on the portion of the outer surface of the second pin into contact with at least a portion of the engagement surface of the second wedge.

39. The biaxial joint of paragraph 38 wherein the force applied to the second wedge is sufficient to preload the second pin in a direction opposite the load on the second pin when the biaxial joint is subjected to an external tensile load.

40. The biaxial joint of any of paragraphs 36 to 39, further comprising a second pair of bushings disposed between an outer surface of the second pin and an inner surface of each arm of the second clevis, each arm of the second clevis defining an axially aligned bore therethrough, and wherein an inner surface of the second end of the coupler defining the fourth bore therethrough is in direct contact with an outer surface of the second pin.

41. The biaxial joint of any of paragraphs 24 to 40, wherein the first and second ends of the second pin and the second clevis are devoid of any mechanical structure configured to retain the second pin within the aperture of the second clevis, or wherein the first and second ends of the first pin and the first clevis are devoid of any mechanical structure configured to retain the first pin within the aperture of the first clevis, or wherein the first and second ends of the first pin, the first and second ends of the second pin, the first and second clevis are devoid of any mechanical structure configured to retain the first pin within the first clevis and the second pin within the second clevis.

42. The biaxial joint of any of paragraphs 24 to 41, wherein the second end of the coupler comprises a pair of arms, and wherein the pair of arms of the second end of the coupler define axially aligned holes therethrough.

43. The biaxial joint of any of paragraphs 36 to 42, wherein the first wedge and the second wedge are each located between the first pin and the second pin, or wherein the first wedge is located between the first pin and the second wedge is located on the opposite side of the second pin from the first pin.

44. A biaxial joint comprising: a first clevis including a pair of arms defining axially aligned apertures therethrough; a second clevis including a pair of arms defining axially aligned apertures therethrough; a coupler defining a first aperture therethrough, a second aperture at least partially therethrough, a third aperture therethrough, and a fourth aperture at least partially therethrough, wherein: the first and second apertures are disposed proximate a first end of the coupler and the third and fourth apertures are disposed proximate a second end of the coupler, the first end of the coupler including a pair of arms defining an axially aligned aperture therethrough such that the first aperture is defined by the pair of arms of the first end of the coupler, a central axis of the axially aligned aperture through the first end of the coupler lying in a first plane, A central axis through the third bore lies in a second plane, the first and second planes being parallel to each other and the central axis of the axially aligned bore through the first end of the coupler and the central axis through the third bore being oriented at 90 degrees to each other when viewed along an axis perpendicular to the first and second planes; A first pin disposed within the aperture and the first aperture of the first clevis, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a first wedge disposed within the second bore, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler; a second pin disposed within the aperture and the third aperture of the second clevis, wherein the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between a first end and a second end thereof; A second wedge disposed within the fourth aperture, wherein the second wedge is formed on a portion of an outer surface of the second wedge between first and second ends thereof including an engagement surface, and wherein the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the coupler; a first pair of bushings disposed between an outer surface of the first pin and an inner surface of each arm of the first clevis, each arm of the first clevis defining the axially aligned aperture therethrough; a second pair of bushings disposed between inner surfaces of each arm of the second clevis, each arm of the second clevis defining the axially aligned bore therethrough, wherein inner surfaces of the pair of arms defining the axially aligned bore through the first end of the coupler are in direct contact with an outer surface of the first pin, and wherein inner surfaces of the second end of the coupler defining the third bore are in direct contact with an outer surface of the second pin.

45. The biaxial joint of paragraph 44, wherein the first and second ends of the second pin and the second clevis are not configured for any mechanical structure that holds the second pin within the holes of the second clevis and the third hole, or wherein the first and second ends of the first pin and the first clevis are not configured for any mechanical structure that holds the first pin within the holes of the first clevis and the first hole, or wherein the first and second ends of the first pin, the first and second ends of the second pin, the first and second clevis are not configured for any mechanical structure that holds the first pin within the holes of the first clevis and the first hole, and the second pin within the holes of the second clevis.

46. A biaxial joint comprising: a clevis including a pair of arms defining axially aligned apertures therethrough; a lug defining a first aperture therethrough and a second aperture at least partially therethrough; a coupler defining a first aperture therethrough, a second aperture at least partially therethrough, and a third aperture therethrough, wherein the first aperture and the second aperture are disposed proximate to a first end of the coupler and the third aperture is disposed proximate to a second end of the coupler, wherein the coupler comprises a first pair of arms disposed proximate to the first end of the coupler, the first pair of arms defining axially aligned apertures therethrough such that the first aperture is defined by the pair of arms of the first end of the coupler and a second pair of arms disposed proximate to a second end of the coupler such that the third aperture is defined by the pair of arms of the second end of the coupler, wherein a central axis through the first aperture is in a first plane and a central axis through the third aperture is in a second plane, wherein the first plane and the second plane are parallel to each other, and wherein the central axes through the first and second apertures are oriented at 90 degrees to each other when viewed along the first and second planes; a first pin disposed within the aperture of the clevis and the first aperture defined by the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a first wedge disposed within the second aperture defined by the coupler, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin thereby limiting relative movement between the first pin and the coupler, a second pin disposed within the first aperture defined by the lug and the third aperture defined by the coupler, wherein the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between a first end and a second end thereof; a second wedge disposed within the second aperture defined by the ledge, wherein the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between a first end and a second end thereof, and wherein the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the coupler.

47. The biaxial joint of paragraph 46, further comprising a first pair of bushings disposed between an outer surface of the first pin and an inner surface of each arm of the second clevis, each arm of the second clevis defining the axially aligned aperture therethrough; a second pair of bushings disposed between an outer surface of the second pin and an inner surface of each of the second pair of arms of the coupler, the second pair of arms of the coupler defining axially aligned holes; wherein an inner surface of the first end of the coupler defining the first bore is in direct contact with an outer surface of the first pin, and wherein an inner surface of the lug defining the first bore is in direct contact with an outer surface of the second pin.

48. The biaxial joint of paragraph 46 or paragraph 47, wherein the first and second ends of the second pin and the second clevis are free of any mechanical structure configured to retain the second pin within the bore of the second pair of arms of the coupler, or wherein the first and second ends of the first pin and the first clevis are free of any mechanical structure configured to retain the first pin within the bore of the first clevis, or wherein the first and second ends of the first pin, the first and second ends of the second pin, the first clevis and the second pair of arms of the coupler are free of any mechanical structure configured to retain the first pin within the first clevis and the second pin within the second clevis.

49. The biaxial joint of any of paragraphs 46 to 48, wherein axial movement of the first pin within the bore of the first pair of arms and the first bore is limited by the wedge such that the first and second ends of the first pin are free of any mechanical structure configured to retain the first pin within the bore of the first pair of arms.

50. A biaxial joint comprising: a first lug defining a first aperture therethrough and a second aperture at least partially therethrough; a second lug defining a first aperture therethrough; a coupler comprising a first pair of arms disposed proximate a first end of the coupler and a second pair of arms disposed proximate a second end of the coupler, the first end of the coupler defining an axially aligned bore therethrough, the second end of the coupler defining an axially aligned bore therethrough, wherein: the central axes of the axially aligned holes through the first pair of arms lie in a first plane and the central axes of the axially aligned holes through the second pair of arms lie in a second plane, the first plane and the second plane being parallel to each other and the central axes of the axially aligned holes through the first pair of arms and the central axes of the axially aligned holes through the second pair of arms being oriented 90 degrees to each other when viewed along an axis perpendicular to the first plane and the second plane; a first pin disposed within the first bore defined by the first lug and the bore defined by the first pair of arms of the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a first wedge disposed within the second aperture defined by the first lug, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin thereby limiting relative movement between the first pin and the first lug, a second pin disposed within the first aperture defined by the second lug and the aperture defined by the second pair of arms of the coupler.

51. The biaxial joint of paragraph 50, wherein the second lug defines a second aperture at least partially therethrough and the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between its first and second ends, further comprising a second wedge disposed within the second aperture defined by the second lug, wherein the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between its first and second ends, and wherein the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the second lug.

52. The biaxial joint of paragraph 50 or paragraph 51 further comprising a pair of bushings disposed between an outer surface of the first pin and an inner surface of each of the first pair of arms of the coupler, the first pair of arms of the coupler defining the axially aligned bore, wherein an inner surface of the first lug is in direct contact with the outer surface of the first pin, the first lug defining the first bore of the first lug.

53. The biaxial joint of paragraph 50 or paragraph 51 further comprising a first pair of bushings disposed between an outer surface of the first pin and an inner surface of each of the first pair of arms of the coupler, the first pair of arms of the coupler defining the axially aligned bore; a second pair of bushings disposed between an outer surface of the second pin and an inner surface of each of the second pair of arms of the coupler, the second pair of arms of the coupler defining the axially aligned bore, wherein an inner surface of the first lug is in direct contact with an outer surface of the first pin, the first lug defines the first bore of the first lug, and wherein an inner surface of the second lug is in direct contact with an outer surface of the second pin, the second lug defining the first bore of the second lug.

54. The biaxial joint of any of paragraphs 50 to 53, wherein the first and second ends of the first pin and the first pair of arms of the coupler are free of any mechanical structure configured to retain the first pin within the bore of the second pair of arms of the coupler, or wherein the first and second ends of the second pin and the second pair of arms of the coupler are free of any mechanical structure configured to retain the second pin within the bore of the second pair of arms, or wherein the first and second ends of the first pin, the first and second ends of the second pin, the first and second pairs of arms of the coupler, and the second pair of arms of the coupler are free of any mechanical structure configured to retain the first pin within the first pair of arms and the second pin within the second pair of arms.

55. A biaxial joint comprising: a clevis including a pair of arms defining axially aligned apertures therethrough; a lug defining a hole therethrough; a coupler defining a first aperture therethrough, a second aperture at least partially therethrough, and a third aperture therethrough, wherein the first and second apertures are disposed proximate a first end of the coupler and the third aperture is disposed proximate a second end of the coupler, wherein the coupler includes a pair of arms disposed proximate the second end of the coupler such that the third aperture is defined by the pair of arms of the second end of the coupler; a first pin disposed within the aperture defined by the clevis and the first aperture defined by the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a wedge disposed within the second bore defined by the coupler, wherein the wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler; and a second pin disposed within the aperture defined by the lug and the third aperture defined by the coupler.

56. A biaxial joint comprising: a first lug defining a first aperture therethrough and a second aperture at least partially therethrough; a second lug defining a first aperture therethrough; a coupler comprising a first pair of arms disposed proximate a first end of the coupler and a second pair of arms disposed proximate a second end of the coupler, the first end of the coupler defining an axially aligned bore therethrough, the second end of the coupler defining an axially aligned bore therethrough; a first pin disposed within the first bore defined by the first lug and the bore defined by the first pair of arms of the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; a wedge disposed within the second aperture defined by the first lug, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the first lug; and a second pin disposed within the first aperture defined by the second lug and the aperture defined by the second pair of arms of the coupler.

57. A biaxial joint comprising: a lug defining a first aperture therethrough and a second aperture at least partially therethrough; a clevis including a pair of arms defining axially aligned apertures therethrough; a coupler including a pair of arms disposed proximate a first end of the coupler, the first end of the coupler defining an axially aligned bore therethrough, wherein a third bore is defined by the coupler proximate a second end thereof, a first pin disposed within the bore defined by the pair of arms of the clevis and the first bore defined by the lug, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin intermediate the first and second ends thereof; a wedge disposed within the second aperture defined by the lug, wherein the wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the lug; and a second pin disposed within the aperture defined by the clevis and the third aperture defined by the coupler.

Certain embodiments and features have been described using a set of numerical upper limits and a set of numerical lower limits. It is to be understood that a range of any two values (e.g., any lower value in combination with any higher value, any combination of two lower values, and/or any combination of two higher values) is included unless otherwise indicated. Certain lower limits, upper limits, and ranges appear in one or more of the following claims. All numbers are indicated as "about" or "approximately" and take into account experimental errors and variations as would be expected by one of ordinary skill in the art.

The various terms have been defined above. To the extent that terms used in the claims are not defined above, the broadest definition persons in the pertinent art have given that term as reflected in at least one printed publication or issued patent should be given. Furthermore, all patents, test procedures, and other documents cited in this disclosure are fully incorporated by reference herein as if such disclosure were not inconsistent with this disclosure and for all jurisdictions in which such incorporation may be permitted.

While certain preferred embodiments of the present invention have been illustrated and described in detail above, it is apparent that modifications and adaptations thereof will occur to those skilled in the art. It is therefore to be expressly understood that such modifications and adaptations can be made without departing from the essential scope thereof, and that the scope thereof can be determined by the following claims.

Claims

1. A coupler configured to provide a hinged connection between a first member and a second member about two axes of rotation, comprising:

A first end defining a first aperture therethrough and a second aperture at least partially therethrough, wherein the first aperture and the second aperture partially intersect one another; and

A second end defining a third aperture therethrough.

2. The coupler of claim 1, wherein a central axis through the first bore and a central axis through the second bore are substantially orthogonal to each other, and wherein a central axis through the first bore and a central axis through the third bore are substantially orthogonal to each other.

3. The coupler of claim 1, wherein the first end includes a ledge such that at least a portion of an inner surface of the first bore extending from the first end to the second end is continuous, and wherein the second end includes a ledge such that at least a portion of an inner surface of the third bore extending from the first end to the second end is continuous.

4. The coupler of claim 1, wherein the first end defines a groove that is substantially orthogonal to a central axis of the first bore.

5. The coupler of claim 4, wherein the groove intersects the first bore portion such that a portion of an inner surface of the first bore extending from a first end to a second end thereof is discontinuous, the portion of the inner surface being opposite the portion of the first bore intersecting the second bore.

6. The coupler of claim 1, wherein:

The first bore is configured to receive a pin, the pin including an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof,

The second aperture is configured to receive a wedge that includes an engagement surface formed on a portion of an outer surface of the wedge between the first and second ends thereof, an

The partial intersection between the first and second bores is configured to allow the engagement surface of the wedge to contact the engagement surface of the pin when the pin and the wedge are disposed within the first and second bores, respectively.

7. The coupler of claim 1, further comprising:

A first pin disposed within the first bore of the coupler, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof; and

A first wedge disposed within the second bore, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the partial intersection between the first bore and the second bore allows the engagement surface of the first wedge to contact the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler.

8. The coupler of claim 1, wherein:

the second end of the coupler further defines a fourth aperture at least partially therethrough, the fourth aperture configured to receive a second wedge, the second wedge including an engagement surface formed on a portion of an outer surface of the second wedge between the first and second ends thereof,

The third and fourth apertures partially intersect each other,

A central axis through the third bore and a central axis through the fourth bore are substantially orthogonal to each other, and the partial intersection between the third bore and the fourth bore is configured to allow the engagement surface of the second wedge to contact the engagement surface of the pin when the pin and the wedge are disposed within the third bore and the fourth bore, respectively.

9. The coupler of claim 1, wherein the second end of the coupler further defines a fourth aperture at least partially therethrough, and wherein the third aperture and the fourth aperture partially intersect one another; the coupler further includes:

A second pin disposed within the third bore of the coupler, wherein the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between a first end and a second end thereof,

A second wedge disposed within the fourth aperture, wherein the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between first and second ends thereof, and wherein the partial intersection between the third and fourth apertures allows the engagement surface of the second wedge to contact the engagement surface of the second pin, thereby limiting relative movement between the second pin and the coupler.

10. The coupler of claim 1, wherein the first end includes a lug and the second end includes a pair of arms, wherein the pair of arms define an axially aligned bore therethrough such that the third bore is defined by the pair of arms, and wherein the lug defines the first bore therethrough and the second bore at least partially therethrough.

11. The coupler of claim 10, wherein a central axis through the first bore and a central axis through the second bore are substantially orthogonal to each other.

12. The coupler of claim 10, wherein at least a portion of the inner surface of the first bore extending from the first end to the second end thereof is continuous.

13. The coupler of claim 10, wherein the first end defines a groove that is substantially orthogonal to a central axis of the first bore.

14. The coupler of claim 13, wherein the groove intersects the first bore portion such that a portion of an inner surface of the first bore extending from a first end to a second end thereof is discontinuous, the portion of the inner surface being opposite the portion of the first bore intersecting the second bore.

15. The coupler of claim 10, wherein:

The first bore is configured to receive a first pin, the first pin including an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof,

The second aperture is configured to receive a first wedge including an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, an

The partial intersection between the first and second bores is configured to allow the engagement surface of the first wedge to contact the engagement surface of the first pin when the first pin and the first wedge are disposed within the first and second bores, respectively.

16. The coupler of claim 10, further comprising:

17. A biaxial joint comprising:

A coupler comprising a lug disposed at a first end thereof and a pair of arms disposed at a second end thereof, wherein the lug defines a first aperture therethrough and a second aperture at least partially therethrough, wherein the first aperture and the second aperture defined by the lug may partially intersect each other, and wherein the pair of arms define a pair of axially aligned apertures therethrough;

A first pin disposed within the first bore, wherein the first pin includes an engagement surface formed on a portion of an outer surface of the first pin between a first end and a second end thereof;

A first wedge disposed within the second bore, wherein the first wedge includes an engagement surface formed on a portion of an outer surface of the first wedge between a first end and a second end thereof, and wherein the engagement surface of the first wedge contacts the engagement surface of the first pin, thereby limiting relative movement between the first pin and the coupler;

An arm defining a first aperture therethrough and a second aperture at least partially therethrough, wherein the first aperture and the second aperture defined by the arm may partially intersect each other, and wherein the first aperture defined by the arm and the second aperture defined by the arm are disposed proximate a first end of the arm;

A second pin disposed within the pair of axially aligned bores defined by the pair of arms of the coupler and the first bore defined by the arms, wherein the second pin includes an engagement surface formed on a portion of an outer surface of the second pin between first and second ends thereof; and

A second wedge disposed within the second aperture defined by the arm, wherein the second wedge includes an engagement surface formed on a portion of an outer surface of the second wedge between a first end and a second end thereof, and wherein the engagement surface of the second wedge contacts the engagement surface of the second pin, thereby limiting relative movement between the second pin and the arm.

18. The biaxial joint according to claim 17 wherein a central axis through the first hole defined by the lug and a central axis through the pair of axially aligned holes defined by the pair of arms are substantially orthogonal to each other, and wherein a central axis through the first hole defined by the lug and a central axis through the second hole defined by the lug are substantially orthogonal to each other.

19. The biaxial joint according to claim 17 wherein the central axis of the first hole through the arm and the central axis of the second hole through the arm are substantially orthogonal to each other.

20. The biaxial joint according to claim 17 wherein said first end of said lug defines a groove that is substantially orthogonal to a central axis of said first bore.