Angular momentum torque enhancement for spherical vehicles
OwnerGregory C. Schrollinventor
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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.
Claims24
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 said pendulum comprising a first drive motor and 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.
A method for driving a spherical vehicle comprising the steps of:
- providing a spherical shell having an axle disposed interior thereto and connected thereto along a diameter;
- shifting the center-of-gravity of a pendulum pivotably coupled to the axle such that torque is generated between the pendulum and the axle effective for rotating the axle;
- tilting a first gyroscope disposed on the pendulum, relative to a second gyroscope disposed on the pendulum, wherein the first gyroscope and the second gyroscope are effective for generating torque between the pendulum and the axle, thereby augmenting the torque generated in said step of shifting the center-of-gravity effective for rotating the axle;
- and
- shifting the center-of-gravity of the pendulum such that torque is generated between the pendulum and the axle effective for rotating the pendulum longitudinally to the axle.
Dependencies are inferred from the claim text.