2026-09-19T10:10:18Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/452962022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Alexander H. Slocum.
Schroll, Gregory C. (Gregory Cordner)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2009-04-29T17:21:58Z
2009-04-29T17:21:58Z
2008
2008
http://hdl.handle.net/1721.1/45296
311867673
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references (leaf 26).
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.
by Gregory C. Schroll.
S.B.
26 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design of a spherical vehicle with flywheel momentum storage for high torque capabilities
Thesis
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