流体ジャイロによる移動ロボットの姿勢安定化装置

概要

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This paper proposes a stabilization system for the mobile robot using a fluid gyro, and describes fundamental analyses and experiments. For the stabilization of the posture of the mobile robot, instead of the usual sensory signal feedback method, a new type autonomous stabilization method by the use of a fluid gyro mechanism is proposed here. The fluid gyro is a special type of gyro having a hollow ring filled with a certain liquid. Mercury is used for the liquid of gyro because of its large specific gravity. During the gyro is rotated with high speed, the external disturbing torque applied to the axis of the gyro is canceled by the restoring torque. Furthermore the axis of gyro doesn't incline. The restoring torque is generated by the motion of liquid in the ring. This principle is explained by using the energy relation. In this paper, the relations of the amount of fluid, the rotation speed and the restoring torque are analyzed. Furthermore by a fundamental experiment of the fluid gyro, its effectiveness is confirmed. The fluid gyro proposed here is very simple in structure and necessitates no electrical feedback in the system, so it can be used effectivel for the robot which moves on the rough road or under the water.
東海大学の論文