Angular momentum torque enhancement for spherical vehicles
First Claim
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1. A spherical vehicle comprising:
- a spherical shell;
an axle connected to said shell and disposed interior thereto along a diameter;
a pendulum pivotably coupled to said axle;
a transmission for driving and tilting said pendulum, comprising a first drive motor cooperating with a second drive motor;
a first gyroscope disposed on said pendulum;
a second gyroscope disposed on said pendulum, said first gyroscope and said second gyroscope being effective for generating torque between said pendulum and said axle;
a third motor for tilting said first gyroscope; and
a fourth motor for tilting said second gyroscope.
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Abstract
An apparatus and method are described for utilizing internally generated angular momentum for supplementing the propulsion of a mobile spherical vehicle capable of motion by rolling over terrain, thereby enabling such vehicles to climb steeper inclines and overcome larger obstacles. Torque generated by counter-rotating gyroscopes was used to supplement gravity generated torque produced by a pendulum drive propulsion system. Precession torque may be generated along a desired axis by changing the angular momentum of the gyroscopes while leaving its magnitude unaffected.
14 Citations
18 Claims
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1. A spherical vehicle comprising:
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a spherical shell; an axle connected to said shell and disposed interior thereto along a diameter; a pendulum pivotably coupled to said axle; a transmission for driving and tilting said pendulum, comprising a first drive motor cooperating with a second drive motor; a first gyroscope disposed on said pendulum; a second gyroscope disposed on said pendulum, said first gyroscope and said second gyroscope being effective for generating torque between said pendulum and said axle; a third motor for tilting said first gyroscope; and a fourth motor for tilting said second gyroscope. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification