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Commenced in January 2007 Frequency: Monthly Edition: International Publications Count: 29311

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Gimbal Structure for the Design of 3D Flywheel System
New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.
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[1] H. B. Brown, Jr. and X. Yangsheng, "A single-wheel, gyroscopically stabilized robot," IEEE International Conference on Robotics and Automation, New York, NY, USA, 1996, pp. 3658-3663.
[2] G. C. Nandy and X. Yangsheng, "Dynamic model of a gyroscopic wheel," IEEE International Conference on Robotics and Automation, New York, NY, USA, 1998, pp. 2683-2688.
[3] S. J. Tsai, E. D. Ferreira, and C. J. J. Paredis, "Control of the gyrover," IEEE/RSJ International Conference on Intelligent Robots and Systems: Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients, Kyongju, South Korea, 1999, pp. 179-184.
[4] A. Halme, T. Schonberg, and W. Yan, "Motion control of a spherical mobile robot," IEEE International Workshop on Advanced Motion Control, New York, NY, USA, 1996, pp. 259-264.
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[6] A. A. H. Javadi and P. Mojabi, "Introducing August: a novel strategy for an omnidirectional spherical rolling robot," Piscataway, NJ, USA, 2002, pp. 3527-3533.
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[8] G. Shu, Q. Zhan, and Y. Cai, "Motion control of spherical robot based on conservation of angular momentum," IEEE International Conference on Mechatronics and Automation, Changchun, China, 2009, pp. 599-604.
[9] W.-H. Chen, C.-P. Chen, W.-S. Yu, C.-H. Lin, and P.-C. Lin, "Design and implementation of an omnidirectional spherical robot Omnicron," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Piscataway, NJ, USA, 2012, pp. 719-24.
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[11] C.-C. Hsiao, C.-E. Tsai, J.-Y. Tu, and Y.-K. Ting, "Development of a Three-Dimensional-Flywheel Robotic System," International Conference on Mechanical Engineering and Applied Mechanics, Paris, France, 2015.
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