Design of a CMG for underwater robots
In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, elect...
- Autores:
- Tipo de recurso:
- Fecha de publicación:
- 2011
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/9109
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/9109
- Palabra clave:
- Control moment gyroscope
Electrical parts
Electronic component
Experimental test
Modular designs
System functionality
Underwater robots
Machine design
- Rights
- restrictedAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
| Summary: | In this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality. © 2011 IEEE. |
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