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    使用GYRO MOMENTUM方法控制的水下车辆

    公开(公告)号:KR1020100028376A

    公开(公告)日:2010-03-12

    申请号:KR1020080087386

    申请日:2008-09-04

    Inventor: 한순희 이진성

    CPC classification number: G05D1/0875 B63B39/04

    Abstract: PURPOSE: An underwater robot using gyro momentum is provided to control a posture using gyro momentum of a pyramid gyro without using an exterior propeller. CONSTITUTION: An underwater robot using gyro momentum comprises an underwater robot body, a pyramid gyro(120), and a gyro controller. The gyro controller controls a posture of the underwater robot body by operating the pyramid gyro. The pyramid gyro comprises four gyros(121,122,123,124). Each gyro has gimbals(121a,122a,123a,124a) and wheels(121b,122b,123b,124b). The gimbals are rotated around gimbals shafts. The wheels are rotated around wheel shafts. The gyro controller rotates the underwater robot body by rotating the gimbals and the wheels.

    Abstract translation: 目的:提供使用陀螺仪动量的水下机器人,以使用陀螺仪陀螺仪的陀螺仪动量来控制姿势,而不使用外螺旋桨。 构成:使用陀螺动量的水下机器人包括水下机器人体,金字塔陀螺仪(120)和陀螺仪控制器。 陀螺仪控制器通过操作金字塔陀螺仪来控制水下机器人体的姿势。 金字塔陀螺仪包括四个陀螺仪(121,122,123,124)。 每个陀螺仪具有万向节(121a,122a,123a,124a)和轮(121b,122b,123b,124b)。 万向架绕万向轮旋转。 轮子围绕车轮轴旋转。 陀螺仪控制器通过旋转万向节和轮子来旋转水下机器人体。

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