Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—A new control moment gyro (CMG) using a gimballess design is developed for attitude control of a spacecraft. Although benefits of a conventional CMG system include cleanliness, replenishability of power source, and generation of high torque to change direction of a spacecraft, it is necessary to design a complex control system to avoid impassable and escapable singular states that are caused by gimbals. The proposed CMG system using a spherical rotor does not require gimbals for three-axis attitude control. The spherical rotor, which is driven by three pairs of omni wheel attached at a shaft of a motor, consists of a spherical shell, a flywheel, a battery, and IMU to measure the angular velocity of the rotor. Singularity analysis of the proposed CMG is described, and a preliminary experiment is performed to verify the validity of the CMG.
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