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This outer gimbal possesses one degree of rotational freedom and its axis possesses none. The second gimbal, inner gimbal, is mounted in the gyroscope frame (outer gimbal) so as to pivot about an axis in its own plane that is always perpendicular to the pivotal axis of the gyroscope frame (outer gimbal).
Illustration of a simple three-axis gimbal set; the center ring can be vertically fixed. A gimbal is a pivoted support that permits rotation of an object about an axis. A set of three gimbals, one mounted on the other with orthogonal pivot axes, may be used to allow an object mounted on the innermost gimbal to remain independent of the rotation of its support (e.g. vertical in the first ...
A control moment gyroscope (CMG) is an attitude control device generally used in spacecraft attitude control systems. A CMG consists of a spinning rotor and one or more motorized gimbals that tilt the rotor’s angular momentum .
Gimbal lock is the loss of one degree of freedom in a multi-dimensional mechanism at certain alignments of the axes. In a three-dimensional three-gimbal mechanism, gimbal lock occurs when the axes of two of the gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate two-dimensional space.
Two gyroscopes are used to cancel gyroscopic precession, the tendency of a gyroscope to twist at right angles to an input torque. By mounting a pair of gyroscopes (of the same rotational inertia and spinning at the same speed in opposite directions) at right angles the precessions are cancelled and the platform will resist twisting.
Their main advantage over other orientation descriptions is that they are directly measurable from a gimbal mounted in a vehicle. As gyroscopes keep their rotation axis constant, angles measured in a gyro frame are equivalent to angles measured in the lab frame.
The gimbal axis has sensors, that measure whether there is a torque around the gimbal axis. In the picture, a section of the wheel has been named dm 1 . At the depicted moment in time, section dm 1 is at the perimeter of the rotating motion around the (vertical) pivot axis.
The gyro is mounted in a double gimbal, which allows the aircraft to pitch and roll as the gyro stays vertically upright. A self-erecting mechanism, actuated by gravity, counteracts any precession due to bearing friction. It may take a few minutes for the erecting mechanism to bring the gyros to a vertical upright position after the aircraft ...
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