Design of a spherical vehicle with flywheel momentum storage for high torque capabilities

Author(s)
Schroll, Gregory C. (Gregory Cordner)
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Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Alexander H. Slocum.
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Abstract
A novel method for supplementing the propulsion of a spherical ground vehicle was conceived and developed. The addition of angular momentum storage via counter-rotating control moment gyroscopes is proposed in order to overcome significant limitations in the performance of earlier designs of spherical vehicles. Analysis and design of a fully functioning spherical vehicle incorporating such a mechanism is completed and indicates significantly increased torque capabilities for ascending steep inclines and stairs. A fully functional prototype is built and testing is ongoing to verify its capabilities.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
 
Includes bibliographical references (leaf 26).
 
Date issued
2008
URI
http://hdl.handle.net/1721.1/45296
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.
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