| Title |
Design and Implementation of a Mini Scissored-pair Control Moment Gyroscope Actuator to Induce 0.5 Nm Torque |
| Authors |
정도진(Do-Jin Jeong) ; 정슬(Seul Jung) |
| DOI |
https://doi.org/10.5370/KIEE.2023.72.7.849 |
| Keywords |
Control moment gyroscope; indirect actuator; scissored pair configuration; balancing control; two wheel mobile robot; disturbance |
| Abstract |
This paper presents design and implementation of a small control moment gyroscope(CMG) actuator to generate the 0.5Nm torque in the designated direction. The mini CMG can actuate the system in an axis of motion as an individual actuator. Combining CMGs in the configured structure can be designed to control the movement of a system to the desired direction. As a module of indirect actuator, a CMG with scissored-pair(CMGSP) structure has been designed to have the double induced torque in the designated direction. Inducing torque tests of CMGSP with different rotation rates of a gimbal are performed. CMGSP is used to give the desired torque as disturbance to the two wheel mobile robot. Experimental studies of balancing control under disturbance by CMGSP of a two wheel mobile robot are performed to check the functionality of CMGSP. |