INTERNAL MEANS FOR ROTATING AN OBJECT BETWEEN GRAVITATIONALLY STABLE STATES
First Claim
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1. A device comprising:
- an outer support surface;
a center of gravity;
a plurality of single gimbal control moment gyroscopes disposed within said outer support surface;
said device having a plurality of gravitationally stable states when resting on a sloped underlying support surface;
wherein said control moment gyroscopes are disposed so their individual spin vectors may be controllably tilted to apply a resultant torque to the device in a selectable direction;
said resultant torque controllable from zero magnitude to a magnitude sufficient to effect rotation of the device from one gravitationally stable state to another selectable gravitationally stable state on a sloped, horizontal, or irregular underlying support surface.
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Abstract
A vehicle incorporating a plurality of control motion gyroscopes (CMTs) contained within a support structure is described. Optionally, a mass shifting mechanism may also be incorporated in the vehicle. The vehicle and its CMTs are configured to have a plurality of gravitationally stable states on a sloped surface.
84 Citations
18 Claims
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1. A device comprising:
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an outer support surface; a center of gravity; a plurality of single gimbal control moment gyroscopes disposed within said outer support surface; said device having a plurality of gravitationally stable states when resting on a sloped underlying support surface; wherein said control moment gyroscopes are disposed so their individual spin vectors may be controllably tilted to apply a resultant torque to the device in a selectable direction; said resultant torque controllable from zero magnitude to a magnitude sufficient to effect rotation of the device from one gravitationally stable state to another selectable gravitationally stable state on a sloped, horizontal, or irregular underlying support surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A mobile device, the device comprising:
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a shell including a support surface and defining a cavity; a center of gravity located within the cavity; a mass shifting mechanism located within the cavity, the mass shifting mechanism adapted to selectively move the center of gravity; and a plurality of control moment gyroscopes disposed within the cavity; wherein the device has a plurality of gravitationally stable states when the shell is resting on a sloped surface without the application of external forces. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification