Open Science Research Excellence
%0 Journal Article
%A Cheng-En Tsai and  Chung-Chun Hsiao and  Fu-Yuan Chang and  Liang-Lun Lan and  Jia-Ying Tu
%D 2015 
%J  International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 102, 2015
%T Gimbal Structure for the Design of 3D Flywheel System
%V 102
%X 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.
%P 1018 - 1023