Eccentric linkage gripper

1. A gripper, comprising:

a body; and

a grip assembly coupled to the body, the grip assembly comprising a single linkage including a wall engagement portion configured to grip an interior surface defining a wellbore, said wall engagement portion extendable away from the body;

wherein when movement of the single linkage causes the wall engagement portion to exert force on the interior surface defining the wellbore, the resultant force translates the body along the wellbore;

wherein a cross-sectional area of the single linkage when the gripper is in a fully collapsed configuration is at least 35% of a cross-sectional area of the gripper, the cross-sectional area of the gripper defined by a collapsed, throughfit OD of the gripper.

2. The gripper of claim 1 , said grip assembly further comprising a ramp positioned to interact with the linkage as the wall engagement portion extends away from the body.

3. The gripper of claim 1 , further comprising an actuator for causing the wall engagement portion to exert outward force.

4. The gripper of claim 3 , wherein the actuator is within the body.

5. The gripper of claim 1 , wherein a ratio of an expanded throughfit OD of the gripper in an expanded configuration to a collapsed throughfit OD of the gripper is more than 2.

6. The gripper of claim 1 , wherein the maximum radial expansion of the linkage desirably occurs when the angle between the elongate body and the linkage is between 50 and 75 degrees.

7. The gripper of claim 1 , wherein the cross-sectional area of the linkage is at least 45% of the cross-sectional area of the gripper when the gripper is in a fully collapsed configuration.

8. A gripper assembly comprising:

a linkage comprising a wall engagement portion for engaging an interior of a wellbore, the linkage comprising:

a lower link connector rotatably connected to a first push link and a second push link, the lower link connector slidably attached to an elongate body at a first location;

a load link rotatably attached to the elongate body at a second location spaced from said first location;

an upper link connector rotatably connected to the first and second push links and the load link; and

an expansion surface upon which the first and second push links act to provide an expansion force;

wherein for a first expansion range the movement of the first and second push links upon the expansion surface expands the linkage and for a second expansion range the movement of the first and second push links pushing against a first end of the upper link connector expands the linkage;

wherein the wall engagement portion comprises a surface of the load link and movement of the gripper along the interior surface of the wellbore results from the lower link connector sliding with respect to the elongate body; wherein the gripper assembly comprises a single linkage.

9. The gripper assembly of claim 8 , wherein the expansion surface is a ramp positioned to interact with the linkage as the wall engagement portion extends away from the body.

10. The gripper assembly of claim 9 , wherein the first push link, the second push link, the upper link connector, and the lower link connector form an approximately parallelogram shape when the link mechanism is expanded.

11. The gripper assembly of claim 9 , wherein the ratio of a length of the first push link to a length of the second push link is approximately 1.

12. The gripper assembly of claim 9 , wherein a maximum angle of the load link with respect to the elongate body does not exceed 80 degrees.

13. The gripper assembly of claim 8 , wherein the upper link connector comprises a slot and the load link comprises a pin coupled within the slot.