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.
[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.
[5] A. Bicchi, A. Balluchi, D. Prattichizzo, and A. Gorelli, "Introducing the
`SPHERICLE': An experimental testbed for research and teaching in
nonholonomy," IEEE International Conference on Robotics and
Automation, Albuquerque, NM, USA, 1997, pp. 2620-2625.
[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.
[7] S. Bhattacharya and S. K. Agrawal, "Spherical rolling robot: A design and
motion planning studies," IEEE Transactions on Robotics and
Automation, vol. 16, pp. 835-839, 2000.
[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.
[10] C. E. Thorne and M. Yim, "Design and analysis of a gyroscopically
controlled micro air vehicle," Journal of Intelligent & Robotic
Systems, vol. 65, pp. 417-35, 2012.
[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.
[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.
[5] A. Bicchi, A. Balluchi, D. Prattichizzo, and A. Gorelli, "Introducing the
`SPHERICLE': An experimental testbed for research and teaching in
nonholonomy," IEEE International Conference on Robotics and
Automation, Albuquerque, NM, USA, 1997, pp. 2620-2625.
[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.
[7] S. Bhattacharya and S. K. Agrawal, "Spherical rolling robot: A design and
motion planning studies," IEEE Transactions on Robotics and
Automation, vol. 16, pp. 835-839, 2000.
[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.
[10] C. E. Thorne and M. Yim, "Design and analysis of a gyroscopically
controlled micro air vehicle," Journal of Intelligent & Robotic
Systems, vol. 65, pp. 417-35, 2012.
[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.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70152", author = "Cheng-En Tsai and Chung-Chun Hsiao and Fu-Yuan Chang and Liang-Lun Lan and Jia-Ying Tu", title = "Gimbal Structure for the Design of 3D Flywheel System", abstract = "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.", keywords = "Gimbal, spherical robot, gyroscope, Lagrangian
formulation, flyball.", volume = "9", number = "6", pages = "1018-6", }