• 전자공학회논문지SC
• /
• 제44권4호통권316호
• /
• pp.35-41
• /
• 2007

본 논문에서는 한 바퀴로 구동하는 로봇 GYROBO을 제작하고 하드웨어를 구현하였다. 한 바퀴로 구동하는 로봇은 디스크와 같은 모양이고 자이로 움직임에 의해 균형을 잡는다. GYROBO는 스핀 모터, 기울기 모터, 그리고 드라이브 모터 등 3개의 구동기로 구성되어 있다. 스핀 모터는 고속으로 플라이휠을 구동하여 로봇이 균형을 잡을 수 있도록 한다. 딜트 로터는 자이로 움직임에 따라 로봇의 조향을 조절한다. 드라이브모터는 종방향 움직임을 조정한다. 몇 개의 모델을 디자인하였다. GYROBO의 움직임을 실험을 통해 검증하였다.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• 제20권1호
• /
• pp.17-35
• /
• 2016

In this study, the dynamic behaviour of a rotating Timoshenko beam when under the actions of a variable magnitude load moving at non-uniform speed is carried out. The effect of cross-sectional dimension and damping on the flexural motions of the elastic beam was neglected. The coupled second order partial differential equations incorporating the effects of rotary and gyroscopic moment describing the motions of the beam was scrutinized in order to obtain the expression for the dynamic deflection and rotation of the vibrating system using an elegant technique called Galerkin's Method. Analyses of the solutions obtained were carried out and various results were displayed in plotted curve. It was found that the response amplitude of the simply supported beam increases with an increase in the value of the foundation reaction modulus. Effects of other vital structural parameters were also established.

• 제어로봇시스템학회논문지
• /
• 제19권6호
• /
• pp.501-507
• /
• 2013

This paper presents the development and balancing control of GYROBO, a one wheeled mobile robot system. GYROBO is a disc type one wheel mobile robot that has three actuators, a drive motor, a spin motor, and a tilt motor. The dynamics and kinematics of GYROBO are analyzed, and simulation studies conducted. A one-wheeled robot, GYROBO is built and its balancing control is performed. Experimental studies of GYROBO's balancing abilities are conducted to demonstrate the gyroscopic effects generated by the spin and tilt angles of a flywheel.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 1997년도 추계학술대회논문집; 한국과학기술회관; 6 Nov. 1997
• /
• pp.43-49
• /
• 1997

A rotating rigid disk, attached on a flexible shaft or supported by a torsional spring, experiences precessional whirling due to gyroscopic moment loading. It is well known in rotor dynamics area that, as the rotational speed increases, the precessional mode of the rotating rigid disk starts splitting into two: forward and backward precessional modes. On the other hand, it is also well known in disk vibration area that a rotating flexible disk also shows another kind of mode splitting phenomenon due to the rotation, resulting in forward and backward traveling waves. When rotating multiple flexible disks are coupled in vibration with the supporting Flexible shaft, the associated mode splitting should be compatible with the two seemingly different vibration analysis methods. This paper investigates the possibility of fusing the precessional and traveling wave mode splittings so that the bending coupled disk vibrations in HDD spindle systems can be better understood.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
• /
• pp.251-255
• /
• 1986

Some missiles using canards as control device adopt rollerons to reduce roll motion due to aerodynamically induced rolling moment. This paper presents equations of motion of these missiles including the gyroscopic effect of rolleron rotors. Some linearized analysis results and simulation results are shown to coincide, thus some characteristic motions of missiles and rollerons can be seen.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권8호
• /
• pp.459-466
• /
• 2000

In this paper, we propose an attitude controller for an unstructured object using CMG(Control Moment of Gyro) subsystem, which has a stabilizer function. The CMG subsystem consists of one motor for spinning the wheel and the other motor for turning the outer gimbal. While the wheel of CMG subsystem is spinning at high speed, applying force to the spin axis of the wheel leads the torque about the vertical axis. We utilize the torque to control the attitude of object in this study. For the stabilizer function, in additiion, holding the load at the current position, the power applied to the gimbal motor of CMG will be cut, which result in the braking force to stop the load by gyro effect. However, due to the gear reduction connected to outer gimbal, slow load motion cannot generate the braking force. Thus, in this study, we are willing to make a holding force by applying control power to the gimbal motor from the signal of piezoelectric gyroscopic sensor that detected the angular velocity of the load. These two features are demonstrated in experiment, carrying a beam with crane. As a result, load was started to rotate by controlling gimbal positiion and was stopped by turning off the gimbal power. Moreover, slow movement of the load was also rejected by additional control with gyroscopic sensor.

• 대한기계학회논문집A
• /
• 제26권12호
• /
• pp.2636-2646
• /
• 2002

This research presents an analytical model to investigate vibration due to ball bearing waviness in a rotating system supported by two or more ball bearings, taking account of the centrifugal force and gyroscopic moment of the ball. The waviness of rolling elements is modeled by the sinusoidal function, and it is incorporated into the position vectors of the race curvature center. The Hertzian con tact theory is applied to calculate the elastic deflection and nonlinear contact force while the rotor has translational and angular motions. Both the centrifugal force and gyroscopic moment of the ball and the waviness of the rolling elements are included in the kinematic constraints and force equilibrium equations of a ball to derive the nonlinear governing equations of the rotor, which are solved by using the Runge-Kutta-Fehlberg algorithm to determine the new position of the rotor. The proposed model is validated by the comparison of the results of the prior researchers. This research shows that the centrifugal force and gyroscopic moment of the ball plays the important role in determining the bearing frequencies, i.e. the principal frequencies, their harmonics and the sideband frequencies resulting from the waviness of the rolling elements of ball bearing. It also shows that the bearing vibration frequencies are generated by the waviness interaction not only between the rolling elements of one ball bearing but also between those of two or more ball bearings constrained by the rotor.

• Advances in nano research
• /
• 제8권3호
• /
• pp.245-254
• /
• 2020

This work examines the fundamental vibrational characteristics of a spinning CNT-based nano-rotor assuming a nonlocal elasticity Euler-Bernoulli beam theory. The rotary inertia, gyroscopic, and rotor mass unbalance effects are all taken into consideration in the beam model. Assuming a nonlocal theory, two coupled 6th-order partial differential equations governing the vibration of the rotating SWCNT are first derived. In order to acquire the natural frequencies and dynamic response of the nano-rotor system, the nonlinear equations of motion are numerically solved. The nano-rotor system frequency spectrum is shown to exhibit two distinct frequencies: one positive and one negative. The positive frequency is known as to represent the forward whirling mode, whereas the negative characterizes the backward mode. First, the results obtained within the framework of this numerical study are compared with few existing data (i.e., molecular dynamics) and showed an overall acceptable agreement. Then, a thorough and detailed parametric study is carried out to study the effect of several parameters on the nano-rotor frequencies such as: the nanotube radius, the input angular velocity and the small scale parameters. It is shown that the vibration characteristics of a spinning SWCNT are significantly influenced when these parameters are changed.

• 한국소음진동공학회논문집
• /
• 제20권10호
• /
• pp.915-922
• /
• 2010

This paper presents an efficient method for determining the forced response of a spinning flexible disk-spindle system supported by fluid dynamic bearings(FDBs) in a computer hard disk drive(HDD). The spinning flexible disk-spindle system is represented by the asymmetric finite element equations of motion originating from the asymmetric dynamic coefficients of the FDBs and the gyroscopic moment of a spinning disk-spindle system. The proposed method utilizes only the right eigenvectors of the eigenvalue problem to transform the large asymmetric finite element equations of motion into a small number of coupled equations, guaranteeing the accuracy of their numerical integration. The results are then back-substituted into the equations of motion to determine the forced response. The effectiveness of the proposed method was verified by comparing it with the responses from the classical methods of mode superposition with the general eigenvalue problems, and mode superposition with modal approximation. The proposed method was shown to be effective in determining the forced response represented by the asymmetric finite element equations of motion of a spinning flexible disk-spindle system supported by FDBs.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2013년도 춘계학술대회 논문집
• /
• pp.842-848
• /
• 2013

Developments of Solid-State Gyroscopy during last decades are impressive and were based on thin-walled shell resonators like HRG or CRG made from fused quartz or leuko-sapphire. However, a number of design choices for inertial-grade gyroscopes, which can be used for high-g applications and for mass- or middle-scale production, is still very limited. So, considerations of fundamental physical effects in solids that can be used for development of a miniature, completely solid-state, and lower-cost sensor look urgent. There is a variety of different types of bulk acoustic (elastic) waves (BAW) in anisotropic solids. Shear waves with different variants of their polarization have to be studied especially carefully, because shear sounds in glasses and crystals are sensitive to a turn of the solid as a whole, and, so, they can be used for development of gyroscopic sensors. For an isotropic medium (for a glass or a fine polycrystalline body), classic Lame's theorem (so-called, a general solution of Elasticity Theory or Green-Lame's representation) has been modified for enough general case: an elastic medium rotated about an arbitrary set of axes. Travelling, standing, and mixed shear waves propagating in an infinite isotopic medium (or between a pair of parallel reflecting surfaces) have been considered too. An analogy with classic Foucault's pendulum has been underlined for the effect of a turn of a polarizational plane (i.e., an integration effect for an input angular rate) due to a medium's turn about the axis of the wave propagation. These cases demonstrate a whole-angle regime of gyroscopic operation. Single-crystals are anisotropic media, and, therefore, to reflect influence of the crystal's rotation, classic Christoffel-Green's tensors have been modified. Cases of acoustic axes corresponding to equal velocities for a pair of the pure-transverse (shear) waves have of an evident applied interest. For such a special direction in a crystal, different polarizations of waves are possible, and the gyroscopic effect of "polarizational precession" can be observed like for a glass. Naturally, formation of a wave pattern in a massive elastic body is much more complex due to reflections from its boundaries. Some of these complexities can be eliminated. However, a non-homogeneity has a fundamental nature for any amorphous medium due to its thermodynamically-unstable micro-structure, having fluctuations of the rapidly-frozen liquid. For single-crystalline structures, blockness (walls of dislocations) plays a similar role. Physical nature and kinematic particularities of several typical "drifts" in polarizational BAW gyros (P-BAW) have been considered briefly too. They include irregular precessions ("polarizational beats") due to: non-homogeneity of mass density and elastic moduli, dissymmetry of intrinsic losses, and an angular mismatch between propagation and acoustic axes.