Internal means for rotating an object between gravitationally stable states
First Claim
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1. A mobile device for movement on an underlying support surface, the device comprising:
- a shell including an outer 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, the plurality of control moment gyroscopes having mutually non-parallel tilt axes and being disposed to selectively apply resultant torques to said mobile device, the selectable resultant torques including torques substantially perpendicular to the 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.
64 Citations
14 Claims
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1. A mobile device for movement on an underlying support surface, the device comprising:
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a shell including an outer 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, the plurality of control moment gyroscopes having mutually non-parallel tilt axes and being disposed to selectively apply resultant torques to said mobile device, the selectable resultant torques including torques substantially perpendicular to the underlying support surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A mobile device for movement on an underlying ground surface, the device comprising:
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a shell including an outer support surface and defining a cavity; a center of gravity located within the cavity; a mass shifting pendulum located within the cavity, the mass shifting pendulum having an arm and a drive mechanism for rotating and positioning the arm relative to the shell to shift the center of gravity; and a plurality of single-gimbled control moment gyroscopes disposed within the cavity and mounted on the arm, the plurality of control moment gyroscopes having mutually non-parallel tilt axes;
said plurality of control moment gyroscopes disposed to apply selectable resultant torques to said mobile device.- View Dependent Claims (13, 14)
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Specification