Centrifugal gyroscopic device and related systems and methods

Abstract

A centripetal gyro device is described in this specification. A representative device can include a shaft, an arm coupled to the shaft, a rotor coupled to the arm, and a control system operably coupled to the shaft, the arm, and / or the rotor. The shaft is rotatable about a first axis, and the arm is configured to rotate with the shaft. The arm is pivotable about a second axis, and the rotor is configured to pivotally rotate about the second axis with the arm. The rotor is further pivotable about a third axis. The control system is configured to bring the shaft, the arm, and the rotor into a resonant operating mode in which the shaft rotates at a certain rotational speed, the arm vibrates about the second axis at a first frequency substantially equal to the rotational speed, and the rotor vibrates about the third axis at a second frequency substantially equal to the first frequency.

Description

Technical Field

[0001] [Cross - Reference to Related Applications] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 332,196, filed Apr. 18, 2022, entitled “Centrifugal Gyro Devices and Related Systems and Methods,” which is incorporated herein by reference in its entirety.

[0002] The technology of the present invention relates to centrifugal gyro devices and related systems and methods for generating electricity and / or efficiently summing energy.

Background Art

[0003] U.S. Patent No. 5,457,993, entitled “Pendulum - Oscillation - Type Gyro Accelerometer,” describes a pendulum - oscillation - type gyro accelerometer. The accelerometer utilizes the principle that a gyro torque is generated when a vibrating gyroscope vibrates around a main axis. When the gyro torque balances the pendulum torque, a measured value of acceleration is given. When the accelerometer is attached to the Earth, gravity is measured. Thus, the accelerometer acts as a sensing device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] Many aspects of the technology of the present invention can be better understood by reference to the following drawings. The components in the drawings are not necessarily to scale. Instead, emphasis is placed on clearly illustrating the principles of the technology of the present invention.

Brief Description of the Drawings

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DETAILED DESCRIPTION OF THE INVENTION

[0007] Aspects of the disclosure of the present invention generally relate to centrifugal gyro devices and related systems and methods for generating electricity and / or efficiently summing energy. In some of the embodiments described below, a representative centrifugal gyro device includes (i) a shaft, (ii) an arm coupled to the shaft, (iii) at least one rotor coupled to the arm, and (iv) a control system operably coupled to at least one of the shaft, the arm, and the rotor. The shaft is rotatable about a first axis, and the arm is configured to rotate with the shaft. The arm is pivotable about a second axis different from the first axis, and at least one rotor is configured to pivotally rotate about the second axis with the arm. At least one rotor is further pivotable about a third axis different from the first and second axes. The control system is configured to bring the shaft, the arm, and the rotor into a resonant operating mode in which (a) the shaft rotates at a rotational speed, (b) the arm vibrates about the second axis at a first frequency substantially equal to the rotational speed, and (c) at least one rotor vibrates about the third axis at a second frequency substantially equal to the first frequency. Energy can be input to the device through the control system to control the motion of the shaft, the arm, and the rotor, and energy can be output from the device through a shaft, such as through a generator configured to be coupled to the shaft to convert mechanical energy from the rotation of the shaft into electrical energy.

[0008] During operation, the rotation of the shaft generates a centrifugal force that acts on the arm to rotate the arm and oscillate the arm about a second axis. The arm oscillatory motion and at least one rotor are combined to generate a gyroscopic torque that acts to rotate the shaft about a first axis. In some embodiments, the control system is configured to change the phase relationship between the frequency of the arm oscillation about the second axis and the frequency of the oscillation of at least one rotor about a third axis to change the average value of the gyroscopic torque. For example, the control system can drive the arm and / or at least one rotor through one or more motor assemblies to bring the frequency of the arm oscillation about the second axis and the frequency of the oscillation of at least one rotor about the third axis into phase to increase the gyroscopic torque.

[0009] In some aspects of the technology of the present invention, it is expected that the net energy output from the device will exceed the net energy input into the device through the control system. In some aspects of the technology of the present invention, the device can provide a more efficient energy output than a conventional motor assembly even if the energy output from the device is not greater than the energy input to the device. Specifically, the control system can include one or more relatively small motor assemblies configured to drive the shaft, the arm, and / or the rotor. The power input to each of the motor assemblies can be relatively small compared to the total power output of the device through the shaft. Such smaller motors may be relatively more efficient than equivalent motor assemblies configured to directly rotate the shaft to achieve the same output power. Thus, the arrangement of the device can advantageously enable the power inputs from several smaller motor assemblies to be efficiently combined to drive a series of motions (e.g., oscillations and rotations) that generate a relatively larger power output.

[0010] To provide a complete understanding of various embodiments of the technology of the present invention, the following description and certain details in FIGS. 1 to 16F are enumerated. In other cases, in order to avoid unnecessarily obscuring the description of various embodiments of the technology of the present invention with respect to known structures, materials, operations, and / or systems that are often associated with gyroscopes, vibration and rotation systems, generators, motors, and pivotable couplings, etc., they are not shown in detail or described in the following disclosure. However, those skilled in the art will recognize that the technology of the present invention can be implemented without one or more of the details described herein and / or using other structures, methods, and components, etc. The terms used hereinafter shall be construed in the broadest and most reasonable manner even when used in conjunction with a detailed description of certain examples of embodiments of the technology of the present invention.

[0011] The accompanying drawings depict embodiments of the technology of the present invention and are not intended to limit its scope unless explicitly stated otherwise. The sizes of the various elements depicted are not necessarily shown to scale, and these various elements may be enlarged to improve visibility. In the figures, details of the components may be abstracted in order to eliminate details such as the position of the components and certain precise connections between the components when they are not necessary for a complete understanding of the manufacturing and use methods of the technology of the present invention. Many of the details, dimensions, angles, and other features shown in the figures are merely illustrative of specific embodiments of the disclosure of the present invention. Accordingly, other embodiments may have other details, dimensions, angles, and features without departing from the technology of the present invention. In addition to this, those skilled in the art will recognize that still other embodiments of the technology of the present invention can be implemented without some of the details described hereinafter.

[0012] To the extent that the materials incorporated by reference herein conflict with the disclosure of the present invention, the disclosure of the present invention shall prevail. The headings given herein are for convenience only and should not be construed as limiting the subject matter disclosed.

[0013] I. Selected Embodiments of a Centrifugal Gyro Device and Related Systems and Methods Figures 1A and 1B are partial schematic isometric views of a centrifugal gyro device 100 (the "device 100") configured according to an embodiment of the technology of the present invention. The field of view of Figure 1B is rotated approximately 90 degrees with respect to the field of view shown in Figure 1A. Figure 1C is a side cross-sectional view of the device 100 taken in a plane extending along a first axis A 1 and a second axis A 2 . Referring collectively to Figures 1A - 1C, in the illustrated embodiment, the device 100 includes a frame 102 that includes (i) a plurality of legs 104 (e.g., four legs), (ii) a lower support 106 coupled to the legs 104 (e.g., its upper portion) or integrally formed with the legs 104, and (iii) an upper support 108 rotatably coupled to the lower support 106 and the legs 104 through a first shaft 120 (best seen in Figure 1C, e.g., a spindle, drive shaft, output shaft, and / or an elongate member). The upper support 108 is rotatable about a first axis A 1 (e.g., a spindle axis, a vertical axis, and / or an output axis). In some embodiments, the device 100 can be oriented such that the first axis A 1 extends substantially parallel to the surrounding gravitational field. The legs 104 can be fixedly secured to the ground, floor, and / or another surface (e.g., through one or more fasteners). In some embodiments, the frame 102 further includes a plate 109 fixed between the legs 104.

[0014] In the illustrated embodiment, the device 100 further includes an arm assembly 110 pivotally mounted within the opening 107 of the upper support 108 through a second shaft 126 (FIG. 1C) extending along a second axis A2. The arm assembly 110 may also be referred to as, for example, an arm and / or torque summing assembly. The arm assembly 110 includes (i) a housing 112 that houses one or more motor assemblies to be described in detail below with reference to FIG. 4, and (ii) a pair of rotors 114 (also referred to as masses and individually identified as a first rotor 114a and a second rotor 114b) pivotally attached to the housing 112. More specifically, the first rotor 114a can be pivotally coupled to the first end portion 113a of the housing 112, and the second rotor 114b can be pivotally coupled to the second end portion 113b of the housing 112 opposite the first end portion 113a. The housing 112 further includes a central portion 113c between the first end portion 113a and the second end portion 113b, and this central portion 113c is pivotally coupled to the housing 112 through the second shaft 126 such that the arm assembly 110 is pivotable about a second axis A 1 orthogonal to the first axis A 2 (e.g., an arm axis and / or a hinge axis). The rotors 114 are each pivotable independently about a third axis A 1 orthogonal to the first axis A 2 and the second axis A 3 (e.g., a rotor axis and / or a momentum reference axis). In some embodiments, the lower support 106 and / or the upper support 108 can be omitted, and / or the first shaft 120 can be directly coupled to the arm assembly 110.

[0015] As best seen in FIG. 1C, the first shaft 120 is along the first axis A 1extends along and through the interior of the lower support 106 and includes a lower end portion 121a and an upper end portion 121b. In some embodiments, the lower support 106 can at least partially support the first shaft 120 by one or more bearings (not shown). The upper end portion 121b of the first shaft 120 is coupled to the upper support 108. Referring collectively to FIGS. 1A - 1C, the device 100 includes a shaft motor assembly 130 coupled to the plate 109 and operably coupled to the lower end portion 121a of the first shaft 120. The shaft motor assembly 130 can include a motor (e.g., a rotary motor) and an associated gearbox and is configured to drive the first shaft 120 to rotate clockwise and / or counterclockwise about the first axis A 1 such that the upper support 108 and the arm assembly 110 are driven to rotate together about the first axis A 1 . In FIGS. 1A - 1C, the first shaft 120 is shown as being spaced from the shaft motor assembly 130 for clarity, but these components can be operably coupled to each other directly and / or through intervening structures such as links, couplings, and / or shafts.

[0016] In some embodiments, the device 100 can further include a braking mechanism 122 operably coupled to the first shaft 120. The braking mechanism 122 can include a brake plate 123 fixed to the first shaft 120 and a brake actuator 124 configured to selectively engage the brake plate 123 to slow or stop the rotational speed of the first shaft 120. In some embodiments, the braking mechanism 122 can include other components for selectively slowing the rotational speed of the first shaft 120. In some embodiments, the braking mechanism 122 can be omitted and / or the shaft motor assembly 130 can be configured to inhibit / slow the rotation of the first shaft 120.

[0017] In the illustrated embodiment, device 100 further includes a pair of arm motor assemblies 132 (individually identified as a first arm motor assembly 132a and a second arm motor assembly 132b) coupled to the upper support 108 and operably coupled to the arm assembly 110. FIG. 2 is an isometric view of the arm assembly 110 and the arm motor assembly 132 configured in accordance with an exemplary embodiment of the present technology. Referring collectively to FIGS. 1C and 2, more specifically, the second shaft 126 can include a first end portion 127a operably coupled to the first arm motor assembly 132a and a second end portion 127b operably coupled to the second arm motor assembly 132b. The arm motor assembly 132 can include a motor (e.g., a rotary motor) and an associated gearbox and is configured to drive the second shaft 126 (FIG. 1C) to rotate about a second axis A 2 and to drive the arm assembly 110 to pivotally rotate about the second axis A2 in a first direction and / or a second direction indicated by arrows F 1 and F 2 in FIGS. 1A and 2, respectively. In some embodiments, the arm assembly 110 is constrained (e.g., by one or more mechanical means) to pivotally rotate about the second axis A 1 in the directions of arrows F 2 and F 2 at a selected (e.g., predetermined) maximum amplitude. In some embodiments, the arm motor assemblies 132 are identical and are positioned and oriented symmetrically with respect to the first axis A 1 . Accordingly, the arm motor assemblies 132 can define centers of mass positioned along or substantially along the first axis A 1 relative to each other. In some embodiments, device 100 can include only one arm motor assembly 132 or more than two arm motor assemblies 132.

[0018] FIG. 3 is an isometric side view of an arm assembly 110 according to an embodiment of the technology of the present invention with the housing 112 (FIGS. 1A-1C) omitted for clarity. In the illustrated embodiment, the arm assembly 110 includes a pair of rotor motor assemblies 334 (individually identified as a first rotor motor assembly 334a and a second rotor motor assembly 334b) fixed on both sides of a second shaft 126 within the housing 112. Each of the first and second rotor motor assemblies 334a-b can include a motor (e.g., a rotary motor) and an associated gearbox, driving a first rotor 114a and a second rotor 114b respectively to pivot rotate about a third axis A in the first direction and / or the second direction indicated by arrows G 1 and G 2 as shown. In some embodiments, the rotor 114 is configured to pivot rotate about the third axis A in the directions of arrows G 3 and G 1 at a selected (e.g., predetermined) amplitude. In some embodiments, the rotor 114 is constrained (e.g., by one or more mechanical means) to pivot rotate about the third axis A in the directions of arrows G 2 and G 3 . In some embodiments, the rotor motor assemblies 334 are identical and are positioned and oriented symmetrically with respect to a first axis A 1 and a second axis A 2 . Thus, the rotor motor assemblies 334 can define centers of mass positioned along or substantially along a second axis A2 relative to each other. In some embodiments, the device 100 can include only one rotor motor assembly 334 or more than two rotor motor assemblies 334.

[0019] Continuing to refer to FIG. 3, in some embodiments, the rotors 114 are identical and can have, for example, the same shape, mass, density, and / or profile. In some embodiments, the rotors 114 each have a third axis A 3It can have a wheel-and-spoke shape that is symmetric with respect to. More specifically, each of the rotors 114 includes a central portion 335 coupled to a corresponding one of the rotor motor assemblies 334, an outer portion 336 (e.g., an outer ring), and a plurality of spokes 337 that extend radially outward from the central portion 335 and the third axis A3 to couple the central portion 335 to the outer portion 336. In some embodiments, the outer portion 336 can have a greater mass than the central portion 335, so that most of the mass of the rotor 114 is positioned radially outward from the third axis A 3 . In some embodiments, the rotors 114 can have different shapes, sizes, and / or configurations, and / or one of the rotors 114 can be omitted. For example, in some embodiments, each rotor 114 can have a planar disk shape. In some embodiments, the rotors 114 are each positioned at a distance D from the second shaft 126 and the second axis A 2 and each has a radius R. The distance D, the radius R, and / or the shape of the rotors 114 can be selected to change the inertia and / or total torque characteristics of the arm assembly 110, as will be described in more detail below. In some embodiments, the device 100 includes only one of the rotors 114, so that the arm assembly 110 is arranged like a pendulum.

[0020] Referring to FIGS. 1A and 1B together, device 100 can further include a control and power subsystem 140, which in turn includes one or more power sources 142, one or more sensors 144, one or more generators 146, and a controller 148. The control and power subsystem 140 can be operatively coupled to the shaft motor assembly 130, the arm motor assembly 132, the rotor motor assembly 334 (FIG. 3), the braking mechanism 122, and / or other components of the device 100 through wired and / or wireless connections. For example, in the illustrated embodiment, each of the shaft motor assembly 130, the arm motor assembly 132, and the rotor motor assembly 334 has one or more electrical connectors 141, which can be electrically coupled to the control and power subsystem 140 to pass data, power, and / or other signals therebetween.

[0021] The power source 142 can be an AC power source and / or a DC power source, and in some embodiments can include / comprise a servo drive 143 (FIG. 1B) coupled to the upper support 108 or elsewhere. The power source 142 can supply power to the shaft motor assembly 130, the arm motor assembly 132, and the rotor motor assembly 334. The sensor 144 can include one or more sensors configured (positioned) to detect (i) the rotational speed and / or pivot rotational speed of the first shaft 120, the arm assembly 110, and / or the rotor 114, (ii) the power consumption of the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334, and / or (iii) the power output of the device 100 (e.g., by the generator 146). The generator 146 can be or include a dynamo or other suitable generator coupled to the first shaft 120 to convert the mechanical rotation of the first shaft 120 into electrical energy.

[0022] In some embodiments, the generator 146 can include / comprise a shaft motor assembly 130. That is, the shaft motor assembly 130 can drive and rotate the first shaft 120 in a first operating configuration and convert the rotation of the first shaft 120 into electrical energy in a second operating configuration. In some embodiments, the generator 146 can be a mechanical device for converting the mechanical rotation of the first shaft 120 into another useful output, or can include such a mechanical device. In some embodiments, the generator 146 generates electrical energy and supplies the electrical energy to the power source 142, or can supply it directly to the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334. That is, the generator 146 can function as the power source 142 and / or can provide feedback to the power source 142. In another embodiment, the generator 146 can include / comprise one or both of the arm motor assemblies 132. That is, the arm motor assembly 132 can drive and pivot the second shaft 126 in a first operating configuration and convert the pivotable movement of the second shaft 126 into electrical energy (and / or other useful outputs such as mechanical energy) in a second operating configuration.

[0023] The controller 148 can receive data from the sensor 144 to control the power source 142 and operate the shaft motor assembly 130, the arm motor assembly 132, and / or the rotor motor assembly 334. Specifically, as will be described in more detail below, the controller 148 can (i) rotate the first shaft 120 around the first axis A at a selected (e.g., predetermined) rotational speed with respect to the shaft motor assembly 130, (ii) pivot the arm assembly 110 around the second axis A at a selected amplitude and frequency with respect to the arm motor assembly 132, and (iii) rotate the third axis A at a selected amplitude and frequency with respect to the rotor motor assembly 334. 1 of the first shaft 120, (ii) pivot the arm assembly 110 around the second axis A 2 at a selected amplitude and frequency with respect to the arm motor assembly 132, and (iii) rotate the third axis A 3The rotor 114 can be pivotally rotated around. In some embodiments, the controller 148 can include / comprise a printed circuit board (PCB) 149 (FIG. 1B) connected to the upper support 108 or elsewhere.

[0024] The controller 148 can include a processor and a non - transitory computer - readable storage medium storing instructions that, when executed by the processor, perform functions attributed to the controller 148 described herein. Although not essential, aspects and embodiments of the technology of the present invention can be described in the general context of computer - executable instructions, such as routines executed by a general - purpose computer (e.g., a server or a personal computer). Those skilled in the art will recognize that the technology of the present invention can also be implemented in other computer system configurations, including Internet appliances, handheld devices, wearable computers, cellular phones or mobile phones, multiprocessor systems, microprocessor - based or programmable consumer electronics, set - top boxes, network PCs, minicomputers, and mainframe computers. The technology of the present invention can be embodied in a special - purpose computer or data processor specially programmed, configured, and / or constructed to execute one or more of the computer - executable instructions described in detail below. In fact, the terms "controller" and "computer" (and similar terms) generally used herein refer to any of the devices described above, as well as any suitable data processor or any suitable device capable of communicating with a network, including consumer electronics products or other electronic devices having a processor and other components (e.g., network communication circuits).

[0025] The technology of the present invention can also be implemented in a distributed computer environment where tasks or modules are executed by remote processing devices linked over a communication network such as a local area network ("LAN"), a wide area network ("WAN"), or the Internet. In a distributed computer environment, program modules or subroutines can be installed on both local and remote memory storage devices. Aspects of the technology of the present invention described below can be stored on or distributed by or stored in a computer-readable medium including magnetic and optically readable and removable computer disks or stored in a chip (e.g., an EEPROM or flash memory chip). Alternatively, aspects of the technology of the present invention can be distributed electronically over the Internet or other networks (including wireless networks). One skilled in the art will recognize that each part of the technology of the present invention can reside on a server computer while the corresponding part can reside on a client computer. Unique data structures and data transmissions of aspects of the technology of the present invention are also included within the scope of the technology of the present invention.

[0026] In some embodiments, the control and power subsystem 140, the shaft motor assembly 130, the arm motor assembly 132, and the rotor motor assembly 334 may together be referred to as a "control system" for controlling the movement of the first shaft 120, the arm assembly 110, and the rotor 114. Referring collectively to FIGS. 1A - 3, during operation of the device 100, the control system generally controls the rotational speed of the first shaft 120 about the first axis A 1 and the frequency and / or amplitude of the vibration of the arm assembly 110 about the second axis A 2 and the frequency and / or amplitude of the vibration of the rotor 114 about the third axis A 3 as configured. More specifically, the shaft motor assembly 130 controls the first shaft 120 and the coupled arm assembly 110 about the first axis A 11A and / or to a selected rotational speed. The rotating arm assembly 110 generates a centrifugal force acting on the arm assembly 110, as indicated by arrow F in FIG. 1A. 1 and F 2 The second axis A in the direction indicated by 2 In some embodiments, the arm motor assembly 132 oscillates the arm assembly 110 about the second axis A such that the arm assembly 110 oscillates at a selected frequency and maximum amplitude. 2 (increasing the centrifugal force acting on the arm assembly 110). The resulting motion of the arm assembly 110 can be periodic (e.g., sinusoidal oscillation). The maximum angular amplitude is limited by the torque resulting from the centrifugal force resulting from the rotation of the arm assembly 110.

[0027] The rotor motor assembly 334 drives the rotor 114 to rotate the third shaft A. 3 , where the rotor 114 pivots in an oscillating / modulated manner around the arrow G for a selected frequency and maximum angular amplitude. 1 and G 2 The third axis A in the direction shown in (Figure 1A) 3 The resulting motion of the rotors 114 can be periodic (e.g., sinusoidal). In some embodiments, the periodic motion of the first rotor 114a is opposite (e.g., 180 degrees out of phase) to the periodic motion of the second rotor 114b and is at the same frequency, such that the rotors 114 pass each other in opposite directions and reach their maximum angular amplitudes at the same or at least approximately the same time in opposite directions.

[0028] In some embodiments, the power supply 142 can provide an oscillating / modulated voltage to the arm motor assembly 132 and the rotor motor assembly 334 to generate an oscillatory motion of the arm assembly 110 and the rotor 114. The oscillatory angular momentum of the rotor 114 and the arm assembly 110 rotates about a first axis A, which acts to rotate the first shaft 120. 1The surrounding gyro torques act on the first shaft 120 with respect to each other. Therefore, the rotation of the first shaft 120 drives the arm assembly 110 to vibrate around the second axis A 2 and the vibration of the arm assembly 110 and the vibration of the rotor 114 resulting therefrom act to drive the rotation of the first shaft 120 in a feedback loop. The mechanical rotation of the first shaft 120 can be connected to the generator 146 to generate output power.

[0029] FIG. 4 is a block diagram more specifically showing representative physical characteristics / forces when the device 100 operates according to an embodiment of the technology of the present invention. Further referring to FIGS. 1A - 3, in the illustrated embodiment, the rotor motor assembly 334 provides a driving force 450 that vibrates the rotor 114 around the third axis A 3 and a vibratory rotor angular momentum 451 is generated by the vibration of the rotor 114. A vibratory arm assembly angular velocity 452 is generated by the vibration of the arm assembly 110 around the second axis A 2 and the vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 generate a gyro torque 454 around the first axis A defined as their vector cross product 453 1 . The gyro torque 454 has an amplitude and an average value of the vibration and drives the first shaft 120 to rotate at a rotational speed 455. The rotation of the first shaft 120 can deliver mechanical energy to an output load 459 such as a generator 146. The rotation of the first shaft 120 also rotates the arm assembly 110, thereby generating a centrifugal force 456 in the arm assembly 110, and this centrifugal force acts to vibrate the arm assembly 110 around the second axis A 2 to generate the vibratory arm assembly angular velocity 452. The torque generated in the arm assembly 110 by the centrifugal force 456 is such that the arm assembly is around the second axis A 2reaches its maximum value when oriented at an angle of 45 degrees (e.g., above or below the horizontal position) with respect to it and is always oriented horizontally. Thus, the torque due to the centrifugal force 456 is (i) the main force that drives the arm assembly 110 to have the vibrating arm angular velocity 452 and (ii) can limit the angular displacement of the arm assembly 110 around the second axis A 2 around the second axis A (e.g., the maximum angular displacement is typically about 45 degrees).

[0030] In some embodiments, the shaft motor assembly 130 can provide an auxiliary driving force 457 that increases the gyroscopic torque 454 to control the rotational speed 455 of the first shaft 120. In some embodiments, the shaft motor assembly 130 can provide an input auxiliary driving force during the initial startup of the device 100 until the first shaft 120 rotates at or near a desired rotational speed. Similarly, in some embodiments, the arm motor assembly 132 can provide an auxiliary driving force 458 that vibrates the arm assembly 110 to control the vibrating arm assembly angular velocity 452.

[0031] In some embodiments, the device 100 is configured to operate in a "resonance" mode or at least approximately a resonance mode (e.g., within at least 1%, 2%, 5%, 8%, or 10% of resonance) where the gyroscopic torque 454 is maximized or nearly maximized. In some embodiments, the rotational speed of the first shaft 120 (and the arm assembly 110) around the first axis A 1 around the second axis A 2 the vibration frequency of the arm assembly 110 around the second axis A and the third axis A 3is equal to or at least approximately equal to the frequency of the surrounding rotor 114. For example, when the first shaft 120 rotates at 18 revolutions per second, each of the arm assembly 110 and the rotor 114 can have a frequency of 18 Hz in the resonance mode. In some embodiments, the rotational speed of the first shaft 120 in the resonance mode is different (e.g., slightly different) from the frequency of the arm assembly 110 and / or the frequency of the rotor 114. That is, there may be a slight mismatch between the rotational speed of the first shaft 120, the frequency of the arm assembly 110, and / or the frequency of the rotor 114. For example, when the arm assembly 110 and the rotor 114 each have a frequency of 18 Hz, the first shaft 120 can rotate at a rotational speed of about 15 - 21 revolutions per second and different from 18 revolutions per second in the resonance mode where the gyro torque 454 is maximized or approximately maximized. In another embodiment, the device 100 can be operated in a "non-resonant" operating mode, in which the first axis A 1 The rotational speed of the first shaft 120 (and the arm assembly 110) around is different from the rotational speed of the arm assembly 110 around the second axis A 2 The frequency of the arm assembly 110 around and the frequency of the rotor 114 around the third axis A 3 are not equal.

[0032] In addition to this, the device 100 can drive the arm assembly 110 and / or the rotor 114 to adjust the phase angle and / or phase relationship between the vibration of the rotor 114 and the vibration of the arm assembly 110 and thus the phase angle between the associated oscillatory rotor angular momentum 451 and the associated oscillatory arm assembly angular velocity 452. FIGS. 5A and 5B are graphs illustrating the components of the oscillatory rotor angular momentum 451 and the oscillatory arm assembly angular velocity 452 of FIG. 4 over time according to an embodiment of the technology of the present invention. Referring to FIGS. 1A - 5B together, each of the oscillatory rotor angular momentum 451 and the oscillatory arm assembly angular velocity 452 can be periodic due to the oscillatory motion of the rotor 114 and the arm assembly 110, respectively. The oscillatory rotor angular momentum 451 can have a maximum amplitude M max and the oscillatory arm assembly angular velocity 452 can have a maximum amplitude V maxIt can have. In FIGS. 5A and 5B, the vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 have the same frequency (e.g., as in the resonant operating mode). The vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 are out of phase by a phase angle Φ in FIG. 5A and in phase (e.g., Φ = 0) in FIG. 5B.

[0033] In some embodiments, the device 100 is configured to adjust the phase angle Φ (and / or another phase relationship) between the vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 (and between the corresponding motions of the rotor 114 and the arm assembly 110) to an optimal value such that the device 100 operates in a resonant mode or substantially in a resonant mode and / or maximizes the gyroscopic torque 454 applied to the first shaft 120. To achieve such a change in the phase angle Φ, the controller 148 can control the arm motor assembly 132 and / or the rotor motor assembly 334 to adjust the vibrations of the arm assembly 110 and / or the rotor 114, respectively. Since the vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 are each sinusoidal vibrations (or quasi-sinusoidal vibrations), the vector cross product 453 between them will generate the average value and the second harmonic of the gyroscopic torque 454. The average value of the gyroscopic torque 454 depends on the phase angle Φ and becomes zero when the vibratory rotor angular momentum 451 and the vibratory arm assembly angular velocity 452 are in quadrature phase.

[0034] In some embodiments, the average value of the gyroscopic torque 454 is maximized when the phase angle Φ is 0 degrees or 180 degrees. However, the optimal phase angle Φ that maximizes the value of the gyroscopic torque 454 may be a value other than 0 degrees or 180 degrees based on the operating conditions of the device 100. In particular, the device 100 can generate other torques that suppress or further prevent the vibrations of the arm assembly 110 and / or the rotor 114 from being perfectly in phase with respect to the arm assembly 110 and the rotor 114, i.e., torques such that the arm assembly 110 and the rotor always have out-of-phase vibration components.

[0035] FIG. 6 is a flow diagram of a method or process 650 for operating a representative device to generate electricity in accordance with an embodiment of the technology of the present invention. Some features of method 650 are described in the context of device 100 described in detail with reference to FIGS. 1A-5B for purposes of illustration, but one of ordinary skill in the art will readily understand that method 650 can be implemented using other suitable devices and / or systems described herein.

[0036] Starting at block 651, method 650 includes rotating a first shaft 120 (e.g., a drive shaft) and an arm assembly 110 attached thereto about a first axis A at a selected rotational speed. 1 In some embodiments, a shaft motor assembly 130 can provide an initial (starting) torque to rotate the first shaft 120 until the arm assembly 110 generates a gyroscopic torque 454, at which point the torque from the shaft motor assembly 130 is reduced or eliminated and the rotation of the first shaft 120 is driven completely or almost completely by the generated gyroscopic torque 454. In some embodiments, the shaft motor assembly can be omitted and instead the rotation can be completely driven by the generated gyroscopic torque 454.

[0037] At block 652, method 650 includes pivotally rotating the arm assembly 110 about a second axis A in an oscillatory manner at a first frequency. 2 In some embodiments, an arm motor assembly 132 can provide an initial (starting) torque to rotate the arm assembly 110 until a centrifugal force 456 acts to oscillate the arm assembly 110, at which point the torque from the arm motor assembly 132 is reduced or eliminated and the oscillation of the arm assembly 110 is driven completely or substantially completely by the generated centrifugal force 456. In some embodiments, the arm motor assembly 132 can be used only to adjust the frequency of oscillation of the arm assembly 110 (and the phase relationship obtained between the generated oscillating arm assembly angular velocity 452 and the oscillating rotor angular momentum 451).

[0038] In block 653, method 650 includes the step of pivotally rotating rotor 114 about a third axis A at a second frequency. As described in detail above, when the first shaft 120 rotates (block 651), the arm assembly 110 vibrates (block 652), and the rotor 114 is vibrating (block 653), device 100 generates a gyroscopic torque 454 that acts to rotate the first shaft 120 by combining the angular velocity 452 of the arm assembly 100 and the angular momentum 451 of the rotor 114, and (ii) includes a feedback loop that generates a centrifugal force 456 that acts to rotate the arm assembly 110 by the rotation of the first shaft 120 to vibrate the arm assembly 110. 3 As described in detail above, when the first shaft 120 rotates (block 651), the arm assembly 110 vibrates (block 652), and the rotor 114 is vibrating (block 653), device 100 generates a gyroscopic torque 454 that acts to rotate the first shaft 120 by combining the angular velocity 452 of the arm assembly 100 and the angular momentum 451 of the rotor 114, and (ii) includes a feedback loop that generates a centrifugal force 456 that acts to rotate the arm assembly 110 by the rotation of the first shaft 120 to vibrate the arm assembly 110.

[0039] In block 654, method 650 includes the step of applying an output load 459 to the first shaft 120. The output load 459 extracts energy from device 100, i.e., acts to slow down the rotational speed of the first shaft 120 if there is no adjustment of the operating parameters of device 100.

[0040] In block 655, method 650 includes controlling device 100 such that the rotational speed of the first shaft 120 operates in a resonance mode equal to or at least approximately equal to both the first vibration frequency of the arm assembly 110 and the second vibration frequency of the rotor 114. In some embodiments, the step of controlling device 100 to operate in a resonance mode includes increasing the gyroscopic torque 454 applied to the first shaft 120 to correct the load 459 and setting / adjusting the phase angle Φ to maintain the resonance operating mode. Thus, in some aspects of the technology of the present invention, the phase angle Φ can control the resonance of device 100. In some embodiments, device 100 can be specifically designed for a known load such that it is not necessary to adjust / set the phase angle Φ during operation. However, in some embodiments, the load 459 can be variable, and the vibrations of the arm assembly 110 and / or the rotor 114 can be automatically or manually controlled by the controller 148 to maintain device 100 in the resonance mode during variations in the load 459. In another embodiment, the step of controlling device 100 to operate in a resonance mode includes controlling device 100 such that the rotational speed of the first shaft 120 is different (e.g., slightly different) from the first vibration frequency of the arm assembly 110 and / or the second vibration frequency of the rotor 114. That is, device 100 operates with a slight mismatch between the rotational speed of the first shaft 120, the first vibration frequency of the arm assembly 110, and / or the second vibration frequency of the rotor 114, and can promote / generate centrifugal force resonance in which the gyroscopic torque is maximized.

[0041] In some aspects of the technology of the present invention, the net energy output from device 100 (e.g., to load 459 through first shaft 120) is expected to exceed the net energy input to device 100 through, for example, shaft motor assembly 130, arm motor assembly 132, and / or rotor motor assembly 334. That is, for example, the net mechanical power obtained from gyro torque 454, even considering the interference (friction and / or other losses) to various components of device 100, may exceed the sum of the input power to rotor motor assembly 334 that drives rotor 114 and the input power to arm motor assembly 132 that supplies auxiliary power to arm assembly 110 to control phase angle Φ.

[0042] For example, in section II below, the motion of device 100 is modeled by equations. In section II, the first axis A 1 is referred to as the "spindle axis", the second axis A 2 is referred to as the "hinge axis", the third axis A 3 is referred to as the "rotor axis", the first shaft 120 is referred to as the "spindle", and the arm assembly 110 is referred to as the "arm". As outlined in section II, the difference between the output power and the total input power of device 100 depends on phase angle Φ, and there may be a range of phase angles for which the output is greater than the input, even considering the interference to the motion of first shaft 120, arm assembly 110, and / or rotor 114. For example, as shown in section II, device 100 can generate net power (e.g., output power greater than the input power) for phase angles of approximately 5 to 75 degrees, and can generate the maximum amount of net power when phase angle Φ is approximately 30 to 45 degrees (e.g., approximately 40 degrees).

[0043] In some aspects of the technology of the present invention, device 100 can provide an energy output that is more efficient than a conventional motor assembly through first shaft 120, even if the power output from device 100 is not greater than the power input to device 100. Specifically, the power inputs to shaft motor assembly 130, arm motor assembly 132, and / or rotor motor assembly 334 can each be relatively small compared to the total power output of device 100. Such small motors are relatively more efficient than equivalent motor assemblies configured to directly rotate first shaft 120 with the same output power. Thus, the arrangement of device 100 can advantageously drive a series of motions (e.g., vibrations and rotations) in which the power inputs from the plurality of small motor assemblies are efficiently combined to generate a relatively large power output.

[0044] Generally, the operating / design parameters of device 100 can be optimized to maximize power output based on the selected use of device 100 (e.g., based on the equations detailed in Section II). For example, device 100 can have a small form factor (e.g., for powering a watch or a mobile phone), a medium form factor (e.g., for powering a household appliance), a large form factor (e.g., for powering a remote well or a lift station), etc. Depending on the use, the operating / design parameters that can be optimized include: (i) the frequency of the rotor 114, (ii) the amplitude of the vibration of the rotor 114, (iii) the frequency of the arm assembly 110, (iv) the amplitude of the vibration of the arm assembly 110, (v) the number of arm assemblies 110 (e.g., including one or more arm assemblies), (vi) the number of rotors 114 attached to each arm assembly 110, (vii) the rotational speed of the first shaft 120, (viii) the size and / or mass of any of the components that can directly affect the inertia, momentum, speed, and / or force generated by the components, etc. For example, in Sections III and IV below, examples of representative design parameters are provided that can be selected for a centrifugal gyro device according to the technology of the present invention that can operate very efficiently or even generate more output than the input, even considering interference.

[0045] FIG. 7 is a perspective side view of a centrifugal gyro device 700 constructed in accordance with an additional embodiment of the technology of the present invention. Device 700 can include corresponding features of device 100 described in detail above with reference to FIGS. 1A-6, and some features that are at least substantially similar in structure and function or identical in structure and function, and can be operated in a manner substantially similar to or identical to device 100. In the illustrated embodiment, for example, device 700 includes: (i) a drive shaft 720 rotatable along a first axis A 1 and rotatable with the drive shaft 720 and pivotable about a second axis A 2 of an arm assembly 710, (iii) a third axis A 3A pair of rotors 714 pivotable about (individually identified as a first rotor 714a and a second rotor 714b), and (iv) driving the arm assembly 710 (through one or more motor assemblies) about a second axis A 2 (extending into the page in FIG. 7) to vibrate about, and driving the rotors 714 to vibrate about a third axis A 3 (and / or driving the drive shaft 720 to rotate about a first axis A 1 ), and includes a control and power subsystem 740 operable to do so.

[0046] In some embodiments, the device 700 is configured to operate in a resonance mode or substantially in a resonance mode such that the rotational speed of the drive shaft 720 (and the arm assembly 710) about the first axis A 1 is equal to or substantially equal to the vibration frequency of the arm assembly 710 about the second axis A 2 and the vibration frequency of the rotors 714 about the third axis A 3 . FIGS. 8A - 8D are enlarged perspective views of the device 700 illustrating the movement of the arm assembly 710 and the rotors 714 while the arm assembly 710 makes a complete revolution about the first axis A 1 . FIGS. 8A - 8D sequentially show the arm assembly 720 at different 1 / 4 revolutions (e.g., 90 degrees) about the first axis A 1 . When the rotation of the arm assembly 720 is at a speed that obscures the vibratory motion of the arm assembly 720, an optical illusion appears that the axis of rotation of the arm assembly 720 is tilted by the angles shown in FIGS. 8B and 8D.

[0047] In FIG. 8A, the arm assembly 710 extends substantially parallel to the horizontal direction (e.g., horizontal with respect to gravity). That is, the third axis A 3 extends orthogonally to the first axis A 1 (e.g., the first axis A 1 and the third axis A 3The angle formed by (...) is approximately 90 degrees). Therefore, the arm assembly 710 can have a minimum angular amplitude at the position shown in FIG. 8A. Further, each of the rotors 714 is at a first angular position with respect to the third axis A 3 is in a first angular position with respect to it.

[0048] In FIG. 8B, the arm assembly 710 rotates approximately 90 degrees (e.g., in the clockwise direction) around the first axis A from the position shown in FIG. 8A, and for this reason the arm assembly 710 extends at an angle T with respect to the horizontal direction. In the illustrated embodiment, the second rotor 714b is positioned above the first rotor 714a with respect to the horizontal direction. In some embodiments, the angle T can be the maximum angular amplitude of the vibration of the arm assembly 710. Further, in FIG. 8B, the rotors 714 are each at a second angular position with respect to the third axis A 1 is in a second angular position with respect to it. In some embodiments, when the phases of the arm assembly 710 and the rotor 714 are substantially the same (e.g., the phase angle is equal to zero), the rotor 714 can have a maximum angular amplitude in FIG. 8B and a minimum angular amplitude in FIG. 8A, similar to the arm assembly 720. 3 is in a second angular position with respect to it. In some embodiments, when the phases of the arm assembly 710 and the rotor 714 are substantially the same (e.g., the phase angle is equal to zero), the rotor 714 can have a maximum angular amplitude in FIG. 8B and a minimum angular amplitude in FIG. 8A, similar to the arm assembly 720.

[0049] In FIG. 8C, the arm assembly 710 rotates approximately 90 degrees (e.g., in the clockwise direction) around the first axis A from the position shown in FIG. 8B, and for this reason the arm assembly 710 extends substantially parallel to the horizontal direction and again has a minimum angular amplitude. In FIG. 8C, the rotors 714 are each at a third angular position with respect to the third axis A 1 is in a third angular position with respect to it. In the resonance mode where the vibration frequency of the arm assembly 710 is equal to the vibration frequency of the rotor 714, the third angular position can be the same as the first angular position (e.g., both having a minimum angular amplitude), or can have the opposite sign to the first angular position. 3 is in a third angular position with respect to it. In the resonance mode where the vibration frequency of the arm assembly 710 is equal to the vibration frequency of the rotor 714, the third angular position can be the same as the first angular position (e.g., both having a minimum angular amplitude), or can have the opposite sign to the first angular position.

[0050] In FIG. 8D, the arm assembly 710 rotates around the first axis A from the position shown in FIG. 8C 1Rotates approximately 90 degrees (e.g., in the clockwise direction) around it, and for this purpose, the arm assembly 710 extends at an angle T again with respect to the horizontal direction. However, in the illustrated embodiment, the first rotor 714a is positioned above the second rotor 714b with respect to the horizontal direction. In FIG. 8D, the rotors 714 are each at a fourth angular position with respect to the third axis A 3 In the resonance mode where the frequency of the arm assembly 710 is equal to the frequency of the rotor 714, the fourth angular position can be the same as the second angular position (e.g., both having the maximum angular amplitude), or can have the opposite sign to the second angular position.

[0051] The arm assembly 710 completes the swivel by returning to the position shown in FIG. 8A. Referring to FIGS. 8A - 8D together, the movement of the device 700 in the resonance mode can cause an optical illusion when viewed from the side at a certain azimuth angle as shown in FIGS. 8A - 8D. That is, the arm assembly 710 may appear to pivot consistently around the second axis A2 (FIG. 7) in a certain direction deviating from the vertical direction (e.g., typically at an inclination angle of 45 degrees). This is caused, for example, when the rotors 714 reach their maximum angular amplitude below the horizontal direction when they are at the same or approximately the same circumferential position around the first axis A1 (e.g., the left side of the page shown in FIGS. 8B and 8D). Similarly, the rotors 714 reach their maximum angular amplitude above the horizontal direction when they are each at the same or substantially the same circumferential position around the first axis A1 (e.g., the right side of the page shown in FIGS. 8B and 8D). In some embodiments, when the device 100 deviates from resonance, this optical illusion will rotate in azimuth.

[0052] FIG. 9 is a schematic diagram of a control assembly for controlling a spindle (e.g., the first shaft 120) in accordance with an embodiment of the technology of the present invention. FIG. 10 is a schematic diagram of a control assembly for controlling a spindle (e.g., the first shaft 120) in accordance with an additional embodiment of the technology of the present invention. FIG. 11 is a schematic diagram of an analog control assembly for controlling a spindle (e.g., the first shaft 120) in accordance with an additional embodiment of the technology of the present invention.

[0053] II. Additional Equations Representing the Operation of a Centrifugal Gyro Device The set of gyro axes is defined by the vector cross product according to the right-hand rule. Name the axes the rotor reference axis, the spindle axis, and the hinge axis. For convenience, consider the spindle axis to be vertical. When the rotor axis makes an angle with the rotor reference axis around the hinge axis, the vector cross product automatically takes that into account. The vector cross product (vector along the rotor axis) × (vector along the spindle axis) yields the (vector along the hinge axis). Similarly, the vector cross product (vector along the spindle axis) × (vector along the hinge axis) yields the (vector along the rotor axis). And similarly, the vector cross product (vector along the hinge axis) × (vector along the rotor axis) yields the (vector along the spindle axis). The reverse vector cross products are also applicable. Specifically, the vector cross product (vector along the spindle axis) × (vector along the rotor axis) yields the (vector along the negative hinge axis). Similarly, the vector cross product (vector along the hinge axis) × (vector along the spindle axis) yields the (vector along the negative rotor axis). And similarly, the vector cross product (vector along the rotor axis) × (vector along the hinge axis) yields the (vector along the negative spindle axis). The six vector cross products are summarized as follows: JPEG2025517069000002.jpg722 JPEG2025517069000003.jpg722 JPEG2025517069000004.jpg726 JPEG2025517069000005.jpg726 JPEG2025517069000006.jpg722 JPEG2025517069000007.jpg726 Here, τ R = Unit vector along the rotor axis τ S = Unit vector along the spindle axis τ H = Unit vector along the hinge axis

[0054] From the perspective of the gyroscopic effect, each vector can represent either angular momentum or angular velocity. The vector cross product of the angular momentum and its angular velocity about an orthogonal axis results in a gyroscopic torque about the third axis. Thus, generally, each of the angular momenta of the rotor, arm, and spindle can have an angular velocity about either of two orthogonal axes, resulting in six combinations of gyroscopic torques.

[0055] In this particular case, the spindle has only one degree of freedom, i.e., rotation about the spindle axis. Thus, its angular momentum has its rotation about the orthogonal axis restricted, removing two of the generalized gyroscopic torques and leaving four.

[0056] Similarly, rotation of the arm about the rotor axis is prohibited. Thus, the gyroscopic torque resulting from the angular momentum of the arm rotating about the rotor axis is excluded, leaving three. Further, the spindle rotates the angular momentum of the arm and thus acts on the arm with a gyroscopic torque about the rotor axis, but the arm has rotation about the rotor axis prohibited. This gyroscopic torque acts as stress on the support structure of the hinge axis. With this gyroscopic torque that affects the dynamic motion of the system of the present invention excluded, two gyroscopic torques that do indeed affect the dynamic motion of the system of the present invention remain. The two effective gyroscopic torques are as follows: JPEG2025517069000008.jpg857 JPEG2025517069000009.jpg846 Here, JPEG2025517069000010.jpg89=Moment of inertia of the rotor about the rotor axis JPEG2025517069000011.jpg810=Angular velocity of the rotor about the rotor axis JPEG2025517069000012.jpg89=Angular velocity of the rotor about the spindle axis JPEG2025517069000013.jpg810=Angular velocity of the rotor and the arm about the hinge axis JPEG2025517069000014.jpg810=Arm angle about the hinge axis deviated from the horizontal direction JPEG2025517069000015.jpg811=Gyro torque about the spindle axis acting on the rotor and the arm JPEG2025517069000016.jpg812=Gyro torque about the hinge axis acting on the rotor and the arm

[0057] When both the angular momentum about one axis and the velocity about the orthogonal axis are constant, the gyro torque about the third axis is constant. When either the angular momentum or the angular velocity is oscillatory and the other is constant, the gyro torque becomes oscillatory. When the angular momentum and the angular velocity both oscillate at the same frequency, the gyro torque has two components, namely, a constant (which is 0 when the oscillations are in quadrature, i.e., 90 degrees out of phase) and a second harmonic.

[0058] In the case of an arm balanced along the rotor reference axis and the spindle axis, the differential equations for the rotor vibration about the rotor axis, the spindle rotation, and the arm vibration about the hinge axis are given by the following equations respectively: JPEG2025517069000017.jpg851 JPEG2025517069000018.jpg8107 JPEG2025517069000019.jpg12169Here, JPEG2025517069000020.jpg76=Moment of inertia of the rotor about the rotor axis JPEG2025517069000021.jpg88 = Moment of inertia of the spindle (including the arm) about the spindle axis JPEG2025517069000022.jpg89 = Moment of inertia of the arm about the hinge axis JPEG2025517069000023.jpg89 = Angular acceleration of the rotor about the rotor axis JPEG2025517069000024.jpg86 = Angular acceleration of the spindle about the spindle axis JPEG2025517069000025.jpg810 = Angular acceleration of the arm about the hinge axis JPEG2025517069000026.jpg89 = Angular velocity of the rotor about the rotor axis JPEG2025517069000027.jpg86 = Angular velocity of the spindle about the spindle axis JPEG2025517069000028.jpg810 = Angular velocity of the arm about the hinge axis JPEG2025517069000029.jpg810 = Angle between the arm and the horizontal direction JPEG2025517069000030.jpg815 = Input torque for rotor vibration JPEG2025517069000031.jpg815 = Input torque for spindle rotation start JPEG2025517069000032.jpg815 = Input torque about the hinge axis JPEG2025517069000033.jpg814 = Disturbance torque for rotor vibration about the rotor axis JPEG2025517069000034.jpg814 = Disturbance torque for arm vibration about the hinge axis JPEG2025517069000035.jpg813 = Disturbance torque for spindle rotation JPEG2025517069000036.jpg714 = Load torque acting on the spindle JPEG2025517069000037.jpg77 = Mass of the arm JPEG2025517069000038.jpg88=Gyroscopic radius along the rotor reference axis JPEG2025517069000039.jpg88=Gyroscopic radius along the spindle axis

[0059] These equations are mathematically intractable, mainly because the torque equation due to centrifugal force involves the product of sine and cosine with respect to the angle of the arm around the hinge axis, which is itself a quasi-sinusoidal function. Under ideal conditions without interference and for small amplitudes of small vibrations where the small angle approximation is valid, a closed-form solution can be obtained.

[0060] Assume that the spindle speed is constant. Assume that the phase of the torque from the motor is in phase with the angular acceleration of the rotor. The rotor and the arm vibrate at the same frequency. The differential equation for the motion around the hinge / arm axis can be rewritten in slightly different nomenclature as follows: JPEG2025517069000040.jpg857 JPEG2025517069000041.jpg76=Moment of inertia of the arm and the rotor around the arm axis JPEG2025517069000042.jpg76=Moment of inertia of the rotor around the rotor axis JPEG2025517069000043.jpg78=Torque provided by the arm motor JPEG2025517069000044.jpg76=Angular velocity of the spindle JPEG2025517069000045.jpg76=Constant associating the spindle speed with the centrifugal force torque acting on the arm

[0061] The position of the arm has an amplitude at time t = 0 JPEG2025517069000046.jpg712. Assume that the acceleration of the rotor and the torque of the arm have a phase φ with respect to the position of the arm. JPEG2025517069000047.jpg732 JPEG2025517069000048.jpg838 JPEG2025517069000049.jpg841 JPEG2025517069000050.jpg850 JPEG2025517069000051.jpg1456 Here, ω = ω R = ω A = the vibration frequency. Here, ω S = ω. M A and JPEG2025517069000052.jpg86 are in phase JPEG2025517069000053.jpg843 JPEG2025517069000054.jpg848 JPEG2025517069000055.jpg850

[0062] Substitute these values regarding the positions, velocities, and accelerations of the rotor and the arm into the torque equation. JPEG2025517069000056.jpg1578 JPEG2025517069000057.jpg1489

[0063] Here, Replace JPEG2025517069000058.jpg816 with JPEG2025517069000059.jpg898. JPEG2025517069000060.jpg36112

[0064] Collecting the terms of JPEG2025517069000061.jpg822 gives the following: JPEG2025517069000062.jpg1495 JPEG2025517069000063.jpg2661

[0065] Here, define as JPEG2025517069000064.jpg1423.

[0066] The resonance of the arm occurs at JPEG2025517069000065.jpg1423, which is JPEG2025517069000066.jpg715, so it means TIFF2025517069000067.tif716. JPEG2025517069000068.jpg1665 JPEG2025517069000069.jpg1666

[0067] In the case of JPEG2025517069000070.jpg714, there is no resonance regarding the arm. Apparently, resonance is shown when the spindle speed is slightly higher than the vibration frequencies of the rotor and the arm vibration, even when the amplitude is large and an interfering torque acts on the arm and the small - angle approximation is still valid. The stiffness provided by the centrifugal torque is not constant at large amplitudes. Nevertheless, it is an interesting thought whether some resonance - like behavior can be used to gain benefits at large amplitudes. As a note, when the amplitude of the arm vibration increases, it is more likely to be subject to the limitations imposed by the centrifugal force effect.

[0068] There is no sign of resonance in the rotor.

[0069] Collecting the terms of JPEG2025517069000071.jpg822 gives the following: JPEG2025517069000072.jpg1588 JPEG2025517069000073.jpg1459 JPEG2025517069000074.jpg962 JPEG2025517069000075.jpg1565

[0070] Dividing these two equations gives JPEG2025517069000076.jpg1438

[0071] The gyroscopic torque applied to the spindle is given by the following equation: JPEG2025517069000077.jpg31123

[0072] Integrating with respect to time gives the average gyroscopic torque. JPEG2025517069000078.jpg818 and The terms of JPEG2025517069000079.jpg815 become zero when integrated. JPEG2025517069000080.jpg1265

[0073] As described above for JPEG2025517069000081.jpg712, when the solution by small-angle approximation is a precursor of general performance, the average gyroscopic torque can be increased by approaching resonance.

[0074] Replace JPEG2025517069000082.jpg712 with the equation using the above sin term: JPEG2025517069000083.jpg1581 JPEG2025517069000084.jpg1587 JPEG2025517069000085.jpg12102

[0075] When using the spindle as the output power source, since the output is an average value and the input torque is oscillatory, it is inconvenient to compare the output torque with the input torque. However, the output power can be compared with the total input power. The output power is the product of the average output torque and the spindle speed. Each input power is the average power over a 1 / 4 vibration cycle (the same for each of the other three 1 / 4 vibration periods regardless of the algebraic sign), and is given by the average of the product of the oscillatory input torque and the instantaneous angular velocity attributed to the input torque. The equations for the output power and input power for the rotor and arm by the auxiliary motor are given by the following equations: JPEG2025517069000086.jpg1599 JPEG2025517069000087.jpg29121 JPEG2025517069000088.jpg3490

[0076] The difference between the output power and the total input power can be expressed in the normalization method as follows: JPEG2025517069000089.jpg19161

[0077] Figure 12 is a graph illustrating the normalized net power with respect to the phase angle between the rotor and the arm vibration. As shown, the normalized net power depends on the phase angle between the rotor and the arm vibration for an actual set of geometric layout designs. There is a range of phase angles where the output is greater than the input.

[0078] Instead, the input power is given by the in-phase component related to the product of torque and speed. The equations for the rotor motor and the arm motor are as follows: P -in-r =2×(M -r-max * sin(2 * pi * f * t)) * (w -r-max * sin(2 * pi * f * t+phi -r ) / T time integral P -in-a =(M -a-max * sin(2 * pi * f * t)) * (w -a-max * sin(2 * pi * f * t+phi -a ) / T time integral M -r-max =K t-r * Amp -r-max M -a-max=K t-a * Amp -a-max Here, P -in-r = Input power from each rotor motor (W) P -in-a = Input power from the arm motor (W) M -r-max = Torque amplitude applied by the rotor motor (N·m) M -a-max = Torque amplitude applied by the arm motor (N·m) K t-r = Torque constant of the rotor motor (N·m / A) K t-a = Torque constant of the arm motor (N·m / A) Amp -r-max = Current amplitude of the rotor motor (A) Amp -a-max = Current amplitude of the arm motor (A) w -r-max = Amplitude of the rotor angular velocity around the rotor axis (rad / s) w -a-max = Amplitude of the arm angular velocity around the arm axis (rad / s) f = Frequency of rotor and arm vibrations (Hz) phi -r = Phase angle between the torque and angular velocity waveforms of the rotor (rad) phi -a = Phase angle between the torque and angular velocity waveforms of the arm (rad) t = Time (s) T = 1 / f = Rotor and arm vibration period (s) pi = 3.14159

[0079] The mechanical efficiency is expressed as a percentage as follows: Eff -mech = P -out / (P -in-r + P -in-a ) × 100 Here, Eff -mech = Efficiency of mechanical power in the instrument (%)

[0080] When the arm is used as the output power source, it provides AC power at this vibration frequency. The input power is supplied by the spindle motor and the rotor motor. The formula for the spindle motor is given as follows: P -in-s =M -s * w -s =M -s * (w -s ’) * (2 * pi / 60) M -s =K t-s * Amp -s Here, P -in-s = Input power from the spindle motor (W) M -s = Torque given by the spindle motor (N·m) K t-s = Torque constant of the spindle motor (N·m / A) Amp -s = Current of the spindle motor (A) w -s = Spindle speed (rad / s) w -s ’ = Spindle speed (rps)

[0081] The formula for the power of the rotor motor that vibrates the rotor is given by the following equation: P -in-r =2×(M -r-max * sin(2 * pi * f * t)) * (w -r-max * sin(2 * pi * f * t+phi -r ) / T time integral

[0082] The input power supplied to the arm by the rotor motor is given by the following equation: P -r / a-max =2×(M-r-max * sin(2 * pi * f * t)) * (w -a-max * sin(2 * pi * f * t+phi -r / a ) Here, P -r / a-max = Power amplitude supplied to the arm by the rotor motor (N·m / s) phi -r / a = Phase angle between the waveforms of the rotor torque and the arm angular velocity (rad)

[0083] The input power supplied to the arm by the centrifugal torque is given by the following equation: P -cent-max =(2×I -cent * (w -s )^2 * sin(Theta -a ) * cos(Theta -a ) * w -a-max * sin(2 * pi * f) Theta -a = Theta -a-max * sin(2 * pi * f * t) Here, P -cent-max = Power amplitude supplied by the centrifugal force (N·m / s) I -cent = Constant associating the spindle speed with the centrifugal torque acting on the arm half (N·m / s 2 ) Theta -a = Arm angle (rad) Theta -a-max = Amplitude of arm vibration (rad)

[0084] ​​​​​​​​​​​​​​​​​​​​​​​The power required to vibrate the arm is given by the following equation: P -a-osc-max =2×(MOI -a * (2 * pi * f * t) * Theta -a-max * sin(2 * pi * f * t)) * (w -a-max * sin(2 * pi * f * t) Where: P -a-osc-max = The power (W) required to vibrate the arm to an amplitude of Theta -a-max MOI -a = The moment of inertia of the half arm (N·m·s 2 )

[0085] The output power obtained from the arm vibration is the difference between the total power applied to the arm and the power required to vibrate the arm. The equation for the output power is given by the following equation: P -out =(P -r / a-avg +P -cent-avg )-P -a-osc-avg Where: P -out = The mechanical power obtained (W) P -r / a-avg = The contribution of power by the rotor motor to vibrate the arm (W) P -cent-avg = The contribution of power by the centrifugal force to vibrate the arm (W) P -a-osc-avg = The power (W) required to vibrate the arm to an amplitude of Theta -a-max

[0086] The input power supplied by the spindle motor and the rotor motor is given by the following equation: P -in =P​​-in -s + P -in-r +P -r / a-max Here, P -in = Total input power (W) supplied to operate the device

[0087] The mechanical efficiency is given in percentage by the following formula: Eff -mech = P -out / (P -in ) × 100

[0088] III. Selected Embodiments of Representative Design Parameters and Performance Calculations of a Centrifugal Gyro Device The following Table 1 provides a list of design parameters and calculated performance for a representative embodiment of the centrifugal gyro device 100 shown in FIGS. 1A - 1C.

[0089] (Table 1) TIFF2025517069000090.tif229163 TIFF2025517069000091.tif200163 TIFF2025517069000092.tif125163

[0090] FIG. 13A is a graph illustrating sample test results for a centrifugal gyro device 100 having the characteristics described in Table 1 above, showing the mechanical power of the spindle with respect to the amplitude of the rotor vibration. The following Table 2 provides corresponding sample test results showing the variation of the mechanical power of the spindle with respect to the amplitude of the rotor vibration. FIG. 13B is a graph illustrating sample test results for a centrifugal gyro device 100 having the characteristics described in Table 1 above, showing the extraction of gyro power from the spindle speed harmonics. The data shown in FIGS. 13A and 13B were calculated from measurements of the spindle's two-cycle torque using discrete Fourier transform (DFT) analysis. To obtain the test results shown in FIGS. 13A, 13B, and Table 2, pairs of rotors were vibrated in synchronization with each other. The arms vibrated the rotors about orthogonal axes. The arm vibrations were synchronized with the rotor vibrations. Due to the generated vibrations, a gyro torque was output about the spindle axis. In the test, the gyro torque was not large enough to overcome the large disturbing torque on the spindle, so assistance from the spindle motor was required. The rotating spindle fed back the gyro torque and the centrifugal force torque and amplified the amplitude of the arm vibrations. The spindle speed was adjusted to match the center resonance. The test data indicates that there is a possibility that the mechanical power output can be greater than the input for a certain operating region (e.g., when the rotor amplitude is 18 degrees, 27 degrees, or 36 degrees).

[0091] (Table 2) TIFF2025517069000093.tif131159

[0092] Figures 14A to 14C are graphs illustrating yet another sample test result of the centrifugal gyro device 100 having the characteristics described in Table 1 above. During the test, (i) the pair of rotors 114 (“rotors”) vibrated in synchronization with each other, (ii) the arm assembly 110 (“arm”) vibrated the rotor 114 around the orthogonal axis, and (iii) the vibration of the arm assembly 110 was synchronized with the vibration of the rotor 114. Further, the arm assembly 110 and the rotor 114 vibrated with the same amplitude, frequency, and in-phase with each other. The target position, load position, and current were recorded for the controller (e.g., controller 148) for the arm assembly 110, rotor 114, and the first shaft 120 (“spindle”). The target position is the position at which the controller 148 was programmed to acquire, and the load position was the actual position of the motor at the time of sampling.

[0093] Due to the generated vibration, the gyro torque around the axis A of the first shaft 120 (e.g., spindle) 1 was output. The rotating first shaft 120 fed back the gyro torque and the centrifugal force torque to amplify the amplitude of the vibration of the arm assembly 110, and the rotational speed of the first shaft 120 was adjusted to match the centrifugal force resonance. Under some parameters, the mechanical power output appeared to be greater than the mechanical power input.

[0094] Referring to FIG. 14A, the arm motor controller reported the current given by the controller every 4 milliseconds. The average current (A) is the current sample in amperes averaged over an integral number of vibration cycles. The fact that this current is negative means that the arm is moving in the direction opposite to the normal moving direction for the current of this sign. The rms current (A) is the root mean square value of the square of the recorded current. This value is used for I 2The R power (W) was calculated. The average power (W) is the product of torque (N·m) and speed (rad / s). The torque was calculated from the current by multiplying the current by the torque constant Kt of 0.34 N·m / A. In this graph, the average power is negative, which means that the mechanical power output from the arm is greater than the mechanical power (e.g., average current) input by the motor controller to the arm. I 2 The R (W) is the power dissipated in the motor windings. This is calculated by multiplying the square of the rms current by the winding resistance.

[0095] Referring to Figure 14B, this graph shows data for one rotor with the same settings as the graph of the previous arm measurements. The position and current data were taken by the rotor motor controller at 10 millisecond intervals. The rotor average current (A) line is the average of the currents measured by the rotor motor controller over an integer number of cycles of the vibration frequency. The rms current (A) line is the root mean square value of the square of the rotor motor current. Using this, the I dissipated in the resistance of the motor windings 2 The R power was calculated. The average power (W) line is the product of the average value of the torque and the speed of the rotor averaged over an integer number of cycles of the vibration frequency. The torque was calculated from the current by multiplying the current by the motor torque constant Kt of 0.06 N / Amp for the rotor motor per Amp of current.

[0096] Referring to Figure 14C, the spindle motor controller recorded the position and current every 4 milliseconds per sample. The average current (A) line is the average of the currents over an integer number of cycles of the vibration frequency. The rms current (A) line is the root mean square value of the current. Since the spindle current was always in the same direction, the rms value and the average value are very close to each other. The average power (W) line is the product of the torque and the speed of the spindle. The torque was calculated from the current by multiplying the current by Kt of 0.34 N·m / A. I 2 The R power (W) is the power dissipated in the winding resistance of the motor.

[0097] In particular, the power required for the spindle motor decreased when the amplitude of the vibration increased. The arm motor also showed a decrease. The rotor motor showed an increase, but this does not necessarily offset this decrease. If the decrease in spindle power with increasing amplitude is further confirmed, this can be seen as evidence that power is added to the spindle by the vibrations of the arm and rotor.

[0098] Figures 15A - 15D are graphs illustrating sample test results regarding the effect of the vibration of the rotor 114 on the movement of the arm assembly 120 of the centrifugal gyro device 100. These effects were investigated under two different conditions. First, while the rotor was vibrated, the arm was held in a fixed position with respect to the motor controller. The torque acting on the arm was calculated using the current drawn by the arm motor. In the second method, a code with all PID gains set to zero was loaded into the arm motor controller. Thereby, position and current data could be recorded, but the controller did not react to the position. The current in this case is the current generated when the motor moved under the effect of the rotor movement.

[0099] Referring to Figure 15A, this graph shows that the arm is held in a fixed position by the arm motor. During the test, the position changed only slightly (±0.3 degrees), and the speed was almost zero. This is the torque calculated from the current by multiplying the current by Kt (0.34 N·m / A). The data shows that gyroscopic torque is applied to the arm due to the vibration of the rotor combined with the rotation of the spindle.

[0100] Referring to Figure 15B, in this case, the arm was made free to move, and a PID gain of 0 was loaded into the arm motor controller so that movement and current could be recorded. This graph shows that the arm vibrates due to the effect of the vibration of the rotor and the rotation of the spindle.

[0101] Referring to FIG. 15C, the torque applied to the arm was calculated by multiplying the current in the arm by the Kt (0.34 N·m / A) of the arm motor.

[0102] Referring to FIG. 15D, this graph shows a plot of torque versus speed indicating whether the device is consuming power or generating power. When the signs of the torque and speed are the same, the motor is transferring power to the device. When the signs are different, the device is transferring power to the motor. In the case of the controller, this transfer of power to the motor may be wasted by generating heat. In this case, the signs of the speed and torque are reversed, meaning that the arm motor is not transferring energy to the device.

[0103] FIGS. 16A - 16F are graphs illustrating sample test results regarding the effect of the vibration of the arm assembly 120 on the torque of the rotor 114 of the centrifugal gyro device 100. When collecting data regarding the effect of the rotor on the movement of the arm, the position and current data of the rotor were also collected. This data was collected to determine whether the rotor was supplying energy to the arm.

[0104] Referring to FIG. 16A, the data in this graph shows that one side of the rotor is vibrating between 0 and 72 degrees. The actual position was arbitrary and was an artifact of the algorithm generating the vibration. The vibration of the rotor can be considered as a vibration of ±36 degrees. The actual amplitude of the vibration is slightly larger than this and the phase lags slightly from the programmed target position. In this case, while the arm was held in a nearly fixed position, the rotor vibrated and the spindle rotated.

[0105] Referring to FIG. 16B, the amplitude of the rotor when the arm was free to move decreased compared to when the arm was held in a fixed position by the arm motor. This may be due to energy being transferred from the rotor to the arm.

[0106] Referring to FIG. 16C, this graph shows the current and speed data for the rotor when the arm is held in a fixed position.

[0107] Referring to FIG. 16D, this graph shows the current and speed data for the rotor when the arm is free to move. When the arm is free to move, the current in the arm decreases. The torque-versus-speed graph shows whether the rotor motor is transferring energy to the device or the device is transferring energy to the motor. When the signs are the same, the motor is transferring energy to the device. When the signs are opposite, the transfer is in the reverse direction.

[0108] Referring to FIG. 16E, when the arm is held in a fixed position by the arm motor, the resulting motion is elliptical and an equal amount of energy is transferred in both directions.

[0109] Referring to FIG. 16F, when the arm is free to move, this graph is tilted so as to place many points in two quadrants where the signs of the speed and torque are the same. This indicates that more energy is transferred from the rotor motor to the rotor than from the rotor to the motor. This is evidence that the rotor motor is supplying energy to the motion of the arm. In particular, the factor that determines the amount of power transferred is the relative phase between the torque curve and the speed curve, rather than the amplitude of the current oscillation, as confirmed by the fact that the amplitude of the current oscillation increases when the energy transfer from the motor is low and decreases when the energy transfer from the motor to the rotor is high.

[0110] IV. Selected Embodiments of Additional Representative Characteristics and / or Operating Parameters of Representative Elements of a Centrifugal Gyro Device Table 3 below provides representative characteristics and / or operating parameters for the various elements of the centrifugal gyro device described herein.

[0111] (Table 3) TIFF2025517069000094.tif231169 TIFF2025517069000095.tif229169

[0112] V. Additional Examples The following examples illustrate some embodiments of the technology of the present invention: 1. A shaft rotatable about a first axis, and An arm coupled to the shaft and configured to rotate with the shaft, the arm being pivotable about a second axis different from the first axis, and At least one rotor coupled to the arm and configured to pivotally rotate about the second axis with the arm, the rotor being further pivotable about a third axis different from the first axis and different from the second axis, and A control system operatively coupled to at least one of the shaft, the arm, and the at least one rotor, the control system configured to bring the shaft, the arm, and the at least one rotor into at least an approximately resonant operating mode in which (a) the shaft rotates about the first axis at a certain rotational speed, (b) the arm vibrates about the second axis at a first frequency, and (c) the at least one rotor vibrates about the third axis at a second frequency that is at least approximately equal to the first frequency, and A centrifugal gyro device including the above. 2. The centrifugal gyro device of Example 1, wherein the first frequency and the second frequency are at least approximately equal to the rotational speed. 3. The device of Example 1 or Example 2, wherein the control system includes a motor assembly positioned to drive the at least one rotor to vibrate about the third axis at the second frequency. 4. The device according to any one of Examples 1 to 3, wherein a gyroscopic torque is generated by the arm vibration and the vibration of the at least one rotor to act to rotate the shaft about the first axis, and the gyroscopic torque is substantially maximized in the resonant operating mode. 5. The device of Example 4, wherein the control system is configured to change the phase relationship between the first frequency of the arm and the second frequency of the at least one rotor to change the average value of the gyroscopic torque. 6. The device of Example 4 or Example 5, further comprising a motor assembly positioned to drive the arm to oscillate about a second axis at a first frequency. 7. The device of Example 6, wherein the control system is configured to control the motor assembly to change a phase relationship between a first frequency of the arm and a second frequency of at least one rotor and to change an average value of the gyroscopic torque. 8. The device of any one of Examples 1 - 7, wherein rotation of the arm generates a centrifugal force that acts to oscillate the arm about a second axis. 9. The device of any one of Examples 1 - 8, further comprising a generator coupled to the shaft and configured to generate output power from rotation of the shaft. 10. The device of any one of Examples 1 - 9, further comprising a generator coupled to the arm and configured to generate output power from the pivotal movement of the arm. 11. The device of any one of Examples 1 - 10, wherein the second axis is orthogonal to the first axis. 12. The device of any one of Examples 1 - 11, wherein the third axis is orthogonal to the second axis. 13. The device of any one of Examples 1 - 12, wherein at least one rotor includes a first rotor coupled to a first end portion of the arm and a second rotor coupled to a second end portion of the arm. 14. A method of operating a centrifugal gyro device, comprising: rotating a shaft of the centrifugal gyro device about a first axis; pivotally rotating an arm of the centrifugal gyro device about a second axis different from the first axis, the arm being pivotally coupled to the shaft and configured to rotate with the shaft; pivotally rotating at least one rotor of the centrifugal gyro device about a third axis different from the first axis and different from the second axis, the at least one rotor being pivotally coupled to the arm and configured to pivotally rotate with the arm about the second axis; Controlling the rotation of the shaft, the pivotal rotation of the arm, and / or the pivotal rotation of at least one rotor to bring the shaft, the arm, and the at least one rotor into a resonant operating mode in which (a) the shaft rotates at a certain rotational speed, (b) the arm vibrates around a second axis at a first frequency, and (c) the at least one rotor vibrates around a third axis at a second frequency that is at least approximately equal to the first frequency. A method including the above. 15. The method of example 14, wherein the first vibration and the second frequency are at least approximately equal to the rotational speed. 16. The method of example 14 or 15, further including generating gyroscopic torque by the arm vibration and the vibration of at least one rotor acting to rotate the shaft around a first axis. 17. The method of example 16, further including changing the phase relationship between the first frequency of the arm and the second frequency of the at least one rotor to change the average value of the gyroscopic torque. 18. The method of any one of examples 14 - 17, further including generating electricity with a generator coupled to the shaft by rotating the shaft. 19. The method of any one of examples 14 - 18, wherein the second axis is orthogonal to the first axis and the third axis is orthogonal to the second axis. 20. A spindle rotatable around a first axis, an arm coupled to the spindle and configured to rotate with the spindle, having a first end portion and a second end portion, and being pivotable around a second axis different from the first axis, a first rotor coupled to the first end portion of the arm, a second rotor coupled to the second end portion of the arm, wherein the first rotor and the second rotor are each pivotable around a third axis different from both the first axis and the second axis. A control system operably coupled to at least one of a shaft, an arm, a first rotor, and a second rotor, the control system configured to bring the shaft, the arm, the first rotor, and the second rotor into a resonant operating mode in which (a) the shaft rotates at a certain rotational speed, (b) the arm vibrates about a second axis at a first frequency that is at least approximately equal to the rotational speed, and (c) the first rotor and the second rotor vibrate about a third axis at a second frequency that is at least approximately equal to the first frequency. A centrifugal gyro device including the same.

[0113] VI. Conclusion The above detailed description of embodiments of the technology of the present invention is not intended to be comprehensive or to limit the technology of the present invention to the exact forms disclosed above. Specific embodiments and examples of the technology of the present invention have been described above for purposes of illustration, but as will be recognized by those skilled in the art, various equivalent modifications are possible within the scope of the technology of the present invention. For example, steps are presented in a given order, but in other embodiments the steps can be performed in a different order. Also, various embodiments described herein can be combined to provide still other embodiments.

[0114] Specific embodiments of the technology of the present invention have been described herein for purposes of illustration, but it will be appreciated from the above that known structures and functions have not been shown or described in detail so as not to unnecessarily obscure the description of the embodiments of the technology of the present invention. Wherever possible, the singular or plural terms may each include the plural or singular terms, respectively.

[0115] As used herein, terms such as "about," "approximately," "generally," and "substantially" refer to values within 10% of the recited value. As used herein, "and / or" as in the phrase "A and / or B" refers to A only, B only, and A and B. To the extent that materials incorporated by reference herein conflict with the disclosure of the present invention, the disclosure of the present invention shall control. In addition, the term "comprising" is used throughout this specification to mean including at least the recited features, so that more of the same features and / or additional features of other types are not excluded. Although specific embodiments have been described herein for illustrative purposes, it will be recognized that various changes can be made without departing from the technology of the present invention. Further, although the advantages associated with some embodiments of the technology of the present invention have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments necessarily exhibit such advantages and fall within the scope of the technology of the present invention. Accordingly, the disclosure of the present invention and related technologies may encompass other embodiments not explicitly shown or described herein.

Explanation of Reference Numerals

[0116] 100 Centrifugal gyro device / device 110 Arm assembly 114a First rotor 124 Braking actuator 146 Generator

Claims

1. A shaft rotatable around a first axis, An arm connected to the shaft and configured to rotate together with the shaft, the arm being pivotable about a second axis different from the first axis, At least one rotor coupled to the arm and configured to pivot together with the arm about a second axis, the at least one rotor being further pivotable about a third axis which is different from the first axis and also different from the second axis, A control system operably coupled to at least one of the shaft, the arm, and the at least one rotor, the control system being configured to bring the arm and the at least one rotor into an operating mode in which (a) the arm vibrates around the second axis at a first frequency, and (b) the at least one rotor vibrates around the third axis at a second frequency at least substantially equal to the first frequency, A centrifugal gyro device including a gyroscope.

2. The centrifugal gyro device according to claim 1, further comprising a generator coupled to the arm and configured to generate output power from the pivot motion of the arm.

3. The centrifugal gyro device according to claim 1, wherein the arm is coupled to a mechanical device and directly drives the mechanical device.

4. The centrifugal gyro device according to claim 1, wherein the control system includes a motor assembly positioned to drive the at least one rotor to vibrate around the third axis at the second frequency.

5. The centrifugal gyro device according to claim 1, wherein the vibration of the arm and the vibration of the at least one rotor generate a gyro torque that acts to rotate the shaft around the first axis.

6. The centrifugal gyro device according to claim 5, wherein the control system is configured to change the average value of the gyro torque by changing the phase relationship between the first frequency of the arm and the second frequency of the at least one rotor.

7. The centrifugal gyro device according to claim 1, wherein the second axis is orthogonal to the first axis.

8. The centrifugal gyro device according to claim 1, wherein the third axis is orthogonal to the second axis.

9. The centrifugal gyro device according to claim 1, wherein the at least one rotor includes a first rotor coupled to a first end portion of the arm and a second rotor coupled to a second end portion of the arm.

10. The centrifugal gyro device according to claim 1, wherein the control system causes the shaft, the arm, and the at least one rotor to enter the operating mode in which the shaft rotates around the first axis at a rotational speed at which the shaft rotates at least approximately equal to the first frequency and the second frequency.

11. A method for operating a centrifugal gyro device, The steps include rotating the shaft of the centrifugal gyro device around a first axis, A step of pivoting the arm of the centrifugal gyro device around a second axis different from the first axis, wherein the arm is configured to be pivotably coupled to the shaft and to rotate together with the shaft, A step of pivoting at least one rotor of the centrifugal gyro device around a third axis which is different from the first axis and also different from the second axis, wherein the at least one rotor is pivotably coupled to the arm and configured to pivot together with the arm around the second axis, A step of controlling the rotation of the shaft, the pivot rotation of the arm, and / or the pivot rotation of at least one rotor to bring the arm and the at least one rotor into an operating mode in which (a) the arm vibrates around the second axis at a first frequency, and (b) the at least one rotor vibrates around the third axis at a second frequency that is at least approximately equal to the first frequency. A method that includes this.

12. The method according to claim 11, further comprising the step of generating electricity in a generator coupled to the arm by pivot rotation of the arm.

13. The method according to claim 11, further comprising the step of directly driving a mechanical device coupled to the arm by pivot rotation of the arm.

14. The method according to claim 11, wherein the control of the rotation of the shaft, the pivot rotation of the arm, and / or the pivot rotation of the at least one rotor is driven by a motor to vibrate the at least one rotor around the third axis at the second frequency.

15. The method according to claim 11, further comprising the step of generating gyrotorque by the vibration of the arm and the vibration of the at least one rotor acting to rotate the shaft around the first axis.

16. The method according to claim 11, further comprising the step of changing the average value of the gyro torque by changing the phase relationship between the first frequency of the arm and the second frequency of the at least one rotor.

17. The method according to claim 11, wherein the at least one rotor includes a first rotor coupled to a first end portion of the arm and a second rotor coupled to a second end portion of the arm.

18. The method according to claim 11, wherein the third axis is perpendicular to the second axis.

19. A spindle rotatable around a first axis, An arm coupled to the spindle and configured to rotate with the spindle, having a first end portion and a second end portion opposite to the first end portion, and being pivotable about a second axis different from the first axis, The first axis is perpendicular to the second axis, and further, A first rotor coupled to the first end portion of the arm, A second rotor coupled to the second end portion of the arm, wherein each of the first rotor and the second rotor is pivotable around a third axis that is different from the first axis and also different from the second axis, A control system operably coupled to at least one of the shaft, the arm, the first rotor, and the second rotor, wherein the control system is configured to bring the arm, the first rotor, and the second rotor into an operating mode in which (a) the arm vibrates around the second axis at a first frequency, and (b) the first rotor and the second rotor vibrate around the third axis at a second frequency that is at least approximately equal to the first frequency, A centrifugal gyro device including a gyroscope.

20. The centrifugal gyro device according to claim 19, wherein the control system includes a motor assembly positioned to drive the first rotor and the second rotor to vibrate around the third axis at the second frequency.

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