Device for transforming an angular momentum into a translational movement

Abstract

The device includes a body and a first torque generator, like an electromagnetic coil or a motor with a flywheel. The first torque generator is attached to the body. The first torque generator applies an angular movement to the body around an axis of rotation of the body. The angular movement takes place either in a first direction with a first angular acceleration value or in a second direction with a second angular acceleration value to thereby transform the angular movement into a translational movement. Applying the angular movement in the first direction and in the second direction repeatedly and in a consecutive manner applies a movement force onto the object.

Description

[0001] Device for transforming an angular momentum into a translational movement

[0002] TECHNICAL FIELD

[0003] This description generally relates to generating a propulsion force, for example by a propulsion unit. The propulsion unit may make use of magnetic field generating devices or other means for generating an angular momentum, like a motor with a flywheel.

[0004] BACKGROUND

[0005] Generally, a propulsion unit provides a propulsion force to move a means of transport for people and / or, in general, cargo. The propulsion unit may also be referred to as a propulsion drive.

[0006] To assist and to support movement of people, animals, and goods, several kinds of wheel-based wagons (horse carriages, steam locomotive, etc.) and other types of machinery (like planes and boats) were invented and have been used. Vessels like wagons, boats, and planes need a propulsion system to move from one to the next location. It is either muscle power (human muscle or animal muscle), renewable energy (wind), or some kind of engine that makes the vessel move.

[0007] In this document, the understanding is that the purpose of a “propulsion” system is to move an object. Most of the practiced propulsion solutions are friction-based and / or based on a moving physical device (pressing against the road surface, or propeller pushing against air or water, wind blowing onto a sail, etc.). In recent times, some propulsion systems are mass separation based (all types of rocket drives and ion drives, for example).

[0008] However, propulsion systems used today are either relying on the presence of friction and / or movement in combination with friction (the huffs from the horse pushing and scraping against the road surface, or the rotating tire of the car rubbing against the street surface, for example) or they use some kind of physical mass separation process whereby an expendable mass (like a gas, ions, jet of water) is accelerated away from the object that needs to be moved. Of course, all propulsion systems also rely on a source of energy to power the propulsion system.

[0009] SUMMARY

[0010] There may be a need for generating a translational movement of a body with an alternative propulsion technology.

[0011] According to an aspect, a device for transforming an angular momentum into a translational movement is provided. The device comprises a body and a first torque generator. The first torque generator is attached to the body. The first torque generator is configured to apply an angular movement to the body around an axis of rotation of the body. The angular movement takes place either in a first direction with a first angular acceleration value or in a second direction with a second angular acceleration value to thereby transform the angular movement into a translational movement.

[0012] According to an embodiment, the first angular acceleration value is different than the second angular acceleration value.

[0013] According to an embodiment, the object body or a beam to which the first torque generator is attached is made of or comprises a material that has a certain elasticity. Thus, when applying a torque force to the object or to the beam, the torque force may elastically deform the object or the beam in the direction the torque force is applied before the object starts moving / turning in this direction. Elasticity of the material of the body / beam to a certain amount may contribute to generating translational movement in accordance with the principles described herein.

[0014] According to an embodiment, an absolute amount of the first angular acceleration value is different than an absolute amount of the second angular acceleration value. Accordingto an embodiment, the first direction and the second direction are in the same plane, and eitherthe first direction or the second direction point in the direction of the translational movement of the device.

[0015] Accordingto an embodiment, the first direction is opposite to the second direction.

[0016] According to an embodiment, the first torque generator is attached to the body eccentrically.

[0017] According to an embodiment, the body has an asymmetric mass distribution with regard to a geometric center of the body.

[0018] According to an embodiment, the first torque generator has a first axis of rotation, wherein the first axis of rotation is perpendicular to the first movement direction and the second movement direction of the body.

[0019] Accordingto an embodiment, the device further comprises a second torque generator attached to the body and having a second axis of rotation, wherein the second axis of rotation is perpendicular to the first axis of rotation.

[0020] Accordingto an embodiment, the device further comprises a third torque generator attached to the body and having a third axis of rotation, wherein the third axis of rotation is perpendicular to the first axis of rotation and the second axis of rotation.

[0021] According to an embodiment, the first torque generator is an electrically powered inductor.

[0022] Accordingto an embodiment, the electrically powered inductor is a coil.

[0023] According to an embodiment, the first torque generator is a motor with a flywheel. Accordingto an embodiment, the motor is an electric motor.

[0024] According to an embodiment, the first torque generator is configured to repeatedly apply an angular movement in the first direction and in the second direction. By applyingthis scheme, applying a force in clockwise direction and in counter-clockwise direction is done in an alternating manner.

[0025] BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The device for transforming an angular momentum into a translational movement will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and wherein:

[0027] Fig. 1 schematically shows a device for transforming an angular momentum into translational movement with one torque generator;

[0028] Fig. 2 schematically shows a device for transforming an angular momentum into translational movement with three torque generators;

[0029] Fig. 3 schematically shows a carrier with four components, explaining the location of the center of gravity;

[0030] Fig. 4 schematically shows a carrier with four components, explaining the location of the center of gravity;

[0031] Fig. 5 schematically shows a carrier with four components, explaining the location of the center of gravity;

[0032] Fig. 6 schematically shows two components attached to each other, explaining the location of the center of gravity; Fig. 7 schematically shows the angular inertia of the two components of Fig. 6 depending on a distance from a center of rotation;

[0033] Fig. 8 schematically shows two components attached to each other, explaining the location of the center of gravity;

[0034] Fig. 9 schematically shows the position of the center of gravity and of the center of rotation in the example of Fig. 8;

[0035] Fig. 10 schematically shows the angular inertia of the two components of Fig. 8 and Fig. 9 depending on a distance from a center of rotation;

[0036] Fig. 11 schematically shows the position of the center of gravity and the center of rotation of two components interconnected with each other;

[0037] Fig. 12 schematically shows a motion pattern of a device for transforming an angular momentum into a translational movement

[0038] Fig. 13 schematically shows a body with an electric motor having a flywheel and acting as a first torque generator.

[0039] DETAILED DESCRIPTION OF EMBODIMENTS

[0040] The following detailed description is merely exemplary in nature and is not intended to limit the invention and uses of the invention. Furthermore, there is no intention to be bound by any theory presented in the preceding background or the following detailed description.

[0041] The representations and illustrations in the drawings are schematic and not to scale.

[0042] Like numerals denote like elements. A greater understanding of the described subject matter may be obtained through a review of the illustrations together with a review of the detailed description that follows.

[0043] Generally, the description herein is related to creating translational, e.g., linear, motion using partially rotational movement. This propulsion process may be referred to herein as “penguin walk”, due to the resulting motion scheme that is described with reference to Fig. 12.

[0044] This propulsion process is based on transformation of an angular momentum into a translational movement.

[0045] The penguin-walk style propulsion technique can be used in almost any application on earth or in space to create forward motion for an object that has to be moved.

[0046] Generating linear motion starts with an attempt to turn / rotate the object that has to be moved around an axis (e.g.: z-axis) that is perpendicular to the axis along the object should move (e.g.: x-axis). It is important to mention that the required turning angle can be very small and is almost not noticeable (e.g.: turning angle smaller than + / -0.05 degrees). However, larger turning angles are allowed (e.g.: + / -45 degrees). When increasingthe turning angle value, then the propulsion efficiency may get smaller while at the same time the mechanical vibration in the propulsion drive may increase.

[0047] Therefore, it is preferable to work with the smallest allowable turning angles (e.g., angle values that are smaller than 1 degree).

[0048] To start the turning process, angular acceleration forces will have to be applied onto the object (body). The required angular acceleration forces are created by a torque-force generator that is part of the propulsion drive.

[0049] It is beneficial that the object (including the required torque-force generator) is of a non- symmetrical design (e.g.: is not a perfectly shaped sphere with an even mass distribution). In other words, a non-symmetric design as mentioned herein means that the body has an asymmetric mass distribution in a plane of the desired movement of the body. An angular movement of the body around the z-axis rotates the body with the asymmetric mass distribution. The body may include a base plate and one or more components having a particular mass (these components may be referred to as masses) attached to the base plate. The individual masses used to build the object have to be placed in such way that there is an uneven mass distribution within the object. In case the object is of a symmetrical design, it can be converted into a non-symmetrical design by choosing the correct mounting place of the torque generator to introduce eccentricity and achieve a non-symmetrical design.

[0050] When applying angular acceleration forces to a non-symmetrical object, then the location of the center of rotation (COR) from this object will shift away from the location of the center of gravity (COG). By how much the location of the COR will shift away from the COG depends on how much angular acceleration force is applied. When no angular acceleration forces are applied to the object (example: the object rotates / turns at a constant speed or is standing still) then the location of the COR shifts back to the location of the COG.

[0051] There are different ways to generate the required torque forces of which two exemplary and non-limiting options for the torque generator are listed below:

[0052] Option 1 : using electrically powered inductors (e.g.: air-coils) that generate a magnetic field. The flux-lines of this artificially generated magnetic field will then interact with an external uniform magnetic field (e.g.: the earth magnetic field, or EMF) and generate a force that acts onto the coil, thereby causing the coil to rotate at least by a certain angle with respect to the magnetic field lines of the external magnetic field. Depending on the angular difference between the artificially generated magnetic field and the external uniform field, a torque force is generated and applied to the electrically powered inductor. The larger the magnetic field strength of the external uniform magnetic field and the artificially generated magnetic field are, the larger the created torque force will be. The approach of generating a force by supplying a coil with an electric current is generally described in WO 2022 / 208089 A1 , especially in Figs. 1 and 3 to 9 and the related description, wherein for the purposes of the device for transforming an angular momentum into a translational movement described herein, a single coil acting as a torque generator might be sufficient, because the single coil rotates in the external uniform magnetic field.

[0053] Option 2: using an actuator that is driving a flywheel, wherein the actuator is a motor, like an electric motor. The electric motor is fixedly attached to the framework of the object that has to be moved, in such a manner that the housing of the electric motor is rotationally fixed with respect to the object to be moved. When changing the rotational speed of the flywheel (i.e., the rpm value of the motor), torque forces are generated that act on the object (i.e., device) and act in a manner onto the object that the object is turned.

[0054] When generally referring to a torque generator in one of the embodiments described herein, it may be either of the first or second options for generating a torque force indicated above.

[0055] While linear motion can be created using only one torque-force generator, it is possible to use more than one torque-force generator in a propulsion drive. Using multiple torque-force generators allows to increase the system efficiency, to increase the generated angular acceleration forces, and to increase the operational reliability in generating propulsion forces.

[0056] When using only one torque force generator (e.g.: one inductor or air-coil, or one flywheel drive), then the penguin-walk style propulsion pattern is created by repeatedly alternating the angular accelerating forces in forward (CW) and backward (CCW) direction and by changing the angular acceleration forces in high and low values synchronous to the chosen rotational direction. The larger the difference is in the applied angular acceleration forces (e.g.: high level in CW direction and low level in CCW direction), the larger the created forward-motion (or linear motion forces) will be. Repeatedly switching the direction of the angular acceleration forces backwards and forwards prevents the object from turning away from the desired travel direction and keeps it on its chosen path. By changing the angular acceleration forces in relation to the chosen turning direction will shift the location of the COR further away from the location of the COG (when applying larger angular acceleration forces) or allows the COR location to move back towards the COG location (when applying smaller angular acceleration forces).

[0057] Figs. 1 to 2 describe how a torque is applied to a body while Figs. 3 to 13 explain in greater detail the relation between the center of gravity and the center of rotation of a body with a certain mass distribution that is subject to rotational movement.

[0058] Fig. 1 shows a device 10 with a body 100. A torque generator 110 (particularly, a first torque generator 110A), a control unit 120, and an energy supply unit 130 are attached to the body 100. The torque generator 110, the control unit 120, and the energy supply unit 130 may be provided as separate units, but two or even all three units may also be provided in a common housing that is attached to the body 100.

[0059] The mass distribution of the device 10 is uneven, i.e., the center of gravity 140 is offset from the geometric center of the body 10.

[0060] The torque generator 110 is configured to apply an angular momentum to the body 100, as described above. The angular momentum applied by the torque generator 110 moves the body 100 either in the clockwise direction 111 or in the counterclockwise direction 112 around an axis of rotation (which extends through the center of rotation 150). It should be noted that a particular center of rotation 150 applies to a certain type of action, as will be explained further below. The center of rotation will depend on which torque generator will be used, i.e., which torque generator is powered to apply a torque onto the body 100, and where the torque generator is placed in relation to the entire device 10, and how large the generated angular acceleration will be. The position of the center of rotation 150 as shown in Fig. 1 is one possible example, but the center of rotation will shift depending on the parameters mentioned above.

[0061] As shown in Fig. 1 , the center of rotation 150 and the center of gravity 140 may fall apart, depending on the particular angular momentum acceleration applied by the torque generator 110 to the body 100, and as explained in greater detail below.

[0062] The control unit 120 is configured to create and send control commands to the torque generator 110 so that the torque generator 110 applies a torque resulting in an angular movement (rotational movement) of the body 100. The torque generator applies a torque to the body 100 either in clockwise direction 111 or in counterclockwise direction 112. in this specific example, when only one torque generator 110 is used, the angular acceleration values (i.e., the angular momentum acceleration) for the angular movement in the first direction 111 and the angular movement in the second direction 112 are different. As stated above, depending on the value of the angular momentum acceleration, the COR 150 and the COG 140 of the device 10 are closer together or farther away from each other. By applying the angular movement in the first direction with a first angular acceleration value and the angular movement in the second direction with a second angular acceleration value which is different from the first angular acceleration value, the COR and the COG are at two different distances during the movement in the first direction and the movement in the second direction, respectively. It was found that this results in a translational movement in a first direction 118 or a second direction 119, depending on which angular acceleration value is greater than the other angular acceleration value.

[0063] The value of the first and second angular acceleration relates to the amount (absolute value) of the first and second acceleration. Thus, while the direction of the angular acceleration is different for the first and second movement directions, the amount (i.e., the absolute value) of the angular acceleration is also different for the first and second movement directions. The control unit 120 controls the torque generator 110 in a manner to repeatedly apply the first movement 111 with the first angular acceleration value and the second movement 112 with the second angular acceleration value. For example, when the first angular acceleration value is greaterthan the second angular acceleration value, the device 10 performs a translational movement in the first direction 118. To the contrary, when the first angular acceleration value is smaller than the second angular acceleration value, the device 10 performs a translational movement in the second direction 119.

[0064] The torque generator 110 may be attached to the body 100 eccentrically, i.e., the torque generator 110 is located spaced apart from the geometric center of the body. If the torque generator would be placed nearest of at the COG, it would only generate angular acceleration, but no linear motion. By attaching the torque generator 110 eccentrically to the body 100, the mass distribution of the body in an asymmetric manner may be achieved.

[0065] The control unit 120 and / or the energy supply unit 130 may also be attached to the body 100 in an eccentric manner on the same side or on the opposite side to the torque generator 110 with respect to the geometric center of the body 100. Depending on the particular locations of these components (torque generator, control unit, energy supply), the mass distribution of the body can be achieved as desired.

[0066] The torque generator 110 may particularly be arranged at the body such that the torque generator 110 is spaced apart from the center of gravity 140.

[0067] The body may have an asymmetric mass distribution. This means that the center of gravity of the body and the geometric center of the body fall apart. This asymmetric mass distribution contributes to the center of gravity and the center of rotation falling apart when applying an angular momentum to the body. Depending on the value of the angular acceleration, the distance between the center of gravity and the center of rotation varies. For example, the body is rotationally asymmetric with regard to its mass distribution. In other words, the body is repeatedly accelerated to perform a (partial) rotational movement in clockwise and counterclockwise direction. Since these movements are performed with different amounts of angular acceleration and due to the asymmetric mass distribution of the device, the rotational movement is transformed into a translational movement of the body. One of the first and second rotational movements points substantially in the same direction as the translational movement while the other one of the first and second rotational movements points in the opposite direction.

[0068] In order to generate a torque and apply the torque to the body, the torque generator itself may include or may be a rotating component which rotates about an axis of rotation. In other words, the torque generator itself has an axis of rotation.

[0069] The device may comprise two or more torque generators that are arranged such that they apply a torque to the body in different planes. Simply speaking, while a first torque generator applies torque forces for moving back and forth (first plane or first direction of movement), a second torque generator applies torque forces for moving left and right (second plane or second direction of movement), and a third torque generator applies torque forces for moving up and down (third plane or third direction of movement). These torque generators need to be arranged at the body in a different manner, namely such that the respective axes of rotation of the torque generators are oriented along the three spatial coordinates. However, when two or three torque generators are provided for generating a force in different directions, these torque generators may be powered intermittently, i.e., at one given point of time, only one torque generator for one of the directions is powered with energy. This may apply particularly when the torque generators are magnetic-field based torque generators, while it may not be necessary when the torque generators are mechanical-force-based torque generators, like a motor with a flywheel.

[0070] Summing up, in order to move the device in all three possible directions, three torque generators are required, each being installed with their respective torque related rotational axis extending along the three spatial axes of a three-dimensional coordinate system. Thus, linear motion can be generated in all three spatial directions without having to turn the object first in a desired direction.

[0071] By powering the torque generators individually, the movements generated by the torque generators are superimposed and the device may perform any desired movement in the three-dimensional space.

[0072] Fig. 2 shows a device 10 having a body 100 and three torque generators 110A, 110B, 110C which are attached to the body 100 in a manner that one axis of rotation of one of the three torque generators is perpendicular to the axes of rotation of the other two torque generators. In other words, the torque generators 110A, 110B, 110C are arranged such that their respective axes of rotation are oriented along a respective axis of a three- dimensional coordinate system with the axes x, y, z.

[0073] Thereby, the device 10 can perform a linear movement (linear movement back and forth) by powering a single torque generator. Alternatively, when alternatingly powering two torque generators, the device 10 can move in a plane (back and forth as well as left and right) along any path within that plane. Finally, when powering all three torque generators, the device 10 can move in the three-dimensional space (back and forth, left and right, up and down). The movement of the device results from the superimposed individual movements along the spatial coordinates caused by the individual torque generators.

[0074] The device may comprise torque generators of the same type (i.e., all torque generators are inductors like coils, or all torque generators are motors with a flywheel), or the torque generators may be of different type (i.e., one torque generator may be a coil while the other torque generator is a motor with a flywheel).

[0075] Since the torque generators 110A, 110B, 110C rotate the body 100 in different planes along different axes of the three-dimensional coordinate system, the body may have an individual / different center of gravity and mass distribution from the perspective of each torque generator. While it is described that for every movement direction, a single torque generator is used, multiple torque generators may be provided having parallel axes of rotation and being configured to generate movement in one certain direction.

[0076] While Figs. 1 and 2 describe how rotational movement is applied to a body 100 with one or more torque generators 110, Figs. 3 to 13 describe the position of the center of gravity (COG) and the center of rotation (COR) of a body with a certain mass distribution in relation to an applied rotational movement to that body.

[0077] In Figs. 3 to 13, the general terms “carrier” and “component” are used, while the carrier corresponds to the body, and the component is used to describe the mass distribution of the body. The torque generators are used to apply a rotational movement to the carrier (=body).

[0078] The following text explains the physics behind the creation of linear motion using the penguin-walk process. This process relies on dynamically changing the location of the center of rotation from the object that has to be moved.

[0079] The penguin-walk is based on changes made to the location of the center of rotation (COR) of the object 210 that has to be moved (also here called: carrier, test-object or body 100), whilst at the same time rotating the object ever so slightly in alternating opposite directions. In relation to the object’s center of gravity (COG), the propulsion drive keeps repeatedly changing the location of center of rotation (COR) resulting in a motion-like pattern that is similar to the walking pattern of penguins.

[0080] While the principle described in this document can be implemented with a single torque generator (as shown in Fig. 1 , with the torque generator 110A on the right hand side of the device 10, the torque generator 110A is placed right of the COG 140 and of the COR 150), it is conceivable that more than one torque generator is used for applying a torque in the same direction (clockwise or counter-clockwise). For example, two torque generators may be placed at opposite ends of the body and apply a torque in the same direction, thereby increasing the total torque force applied to the body. This may apply to one or more directions of movement. In the example of Fig. 1 , a second torque generator may be placed at the left hand side of the device 10, and the second torque generator acts clockwise or counter-clockwise, respectively, when the first torque generator acts clockwise or counter-clockwise, respectively. Thus, acting in the same direction generally means that two torque generators placed opposite to each other with the COG and the COR in between act in the same rotational direction of the device.

[0081] In this document, it is differentiated between linear inertia and rotational inertia. As formulated by Aristotle: The principle of inertia includes that a mundane object tends to resist a change in motion.

[0082] The linear inertia applies when an object is accelerated or moved in a straight (linear) fashion. When calculatingthe linear inertia, then only the mass of the object in question matters. In most cases the shape of the object does not matter. Meaning that in physics terminology, the linear inertia is identical to the mass of the object.

[0083] When calculating the rotational inertia, the shape of the object does matter. Meaning that the mass-distribution of the object in relation to the axis it should rotate around (x, y, or z) will influence the value of the rotational inertia.

[0084] The rotational inertia applies when an object is exposed to angular acceleration forces whilst turning or rotating. The moment of inertia depends on how mass is distributed around an axis of rotation and will vary depending on the chosen axis. With the value of rotational inertia, the angular momentum of an object can be calculated.

[0085] The operation of the device for transforming an angular momentum into a translational movement is based on dynamically changing the location of the center of rotation.

[0086] In the first group of examples described below (in chapter “Example A”, Figs. 3 to 5), it is demonstrated that, without having to change the location of the center of gravity (COG) of an object, the value of the rotational inertia will change when rearranging the individual masses that are used to build this object.

[0087] In the second group of examples (in chapter “Example B”, Figs. 6 to 10), we observe the changes in the calculated center of rotation when converting the design of the object from symmetrically to a non-symmetric design.

[0088] In the chapter “Example C” (Figs. 11 to 13), the processes described before will be implemented to create linear-motion (“penguin-walk” style) demonstrated on the simple design of a non-symmetrical object.

[0089] The last chapter briefly looks at two methods that can be used to create angular acceleration forces which are required when generate Penguin-walk-like linear motion.

[0090] Example A: Calculating Rotational Inertia, Figs. 3 to 5

[0091] In a symmetrically designed object (which may require that the torque generators are placed nearest or at the center of the object), the locations for the center of gravity and forthe center of rotation are identical. When changingthe mass distribution from such an object so that it will turn into a non-symmetrical design, then this will have an impact on the value of the rotational inertia. Howthe changes made to rotational inertia will affect the location of the center of rotation will be explained in the chapter “Example B” further below.

[0092] In this chapter, we use a circular shaped aluminum pot / pan that is referred to as carrier 200 and that floats on water. For simplification reasons, it is assumed that the aluminum pan has no weight. Inside this pan are evenly placed four 1 -kg weights, see Fig. 3, components 210A, 210B, 210C, 210D, in the horizontal plane. Fig. 3 shows a top-view onto the carrier 200 in the upper region, and a side view of the carrier 200 in the lower region. It is important to point out that the carrier is perfectly levelled on the water (or in space), which is why the location of the center of gravity (COG) is also the geometric center of the circular shaped carrier 200. The distance of each component 210A, 210B, 21 OC, 21 OD to the center of gravity 220 (COG) location is 0.2 meter.

[0093] With I beingthe Rotational Inertia [kg m2], m being the mass [kg], and r beingthe radius to reference [m] (i.e., r being the distance between a mass 210 and the geometric center), the following applies:

[0094] I = mr2

[0095] I = + L + k + L

[0096] I = r2+ m2r22+ m3r32+ m4r42

[0097] I = 0.16 kgm2

[0098] Not includingthe aluminum float, the rotational inertia of this levelled object is 0.16 kgm2, while the total weight of this object is 4 kg.

[0099] In Fig. 4, one of the four 1 kg weights is removed and replaced by a 0.5 kg weight, see component 210A, while the other components 210B, 210C, 210D remain the same weight and position. To ensure that the float remains level, the 0.5 kg weight 210A is attached at the end of a lever. The distance of the 0.5 kg weight 210A to the COG- location 220 is 0.4 meter, i.e., twice as much as the distance between the other components 210B, 210C, 210D and the COG 220.

[0100] The total weight (not including the weight of the aluminum pot) is now only 3.5 kg (was previously 4 kg in the example of Fig. 3). When calculating the rotational inertia (with the reference point of the COG-location) the value is now: 0.20 kgm2 (previously 0.16 kgm2).

[0101] In Fig. 5, we replace the 0.5 kg weight 210A with a 0.25 kg weight. To ensure that the float remains level (meaning that the location of the COG 220 remains the same), the 0.25 kg weight is attached at the end of a much longer lever compared to Fig. 4. The distance of the 0.25kg weight to the location of COG is now 0.8 meter (in the initial example of Fig. 3 it was only 0.2 meter).

[0102] In this example of Fig. 5, the total weight (not includingthe aluminum pot since this does not change on the examples of Figs. 3 to 5) is now only 3.25 kg while the rotational inertia has gone up further and is now 0.28 kgm2.

[0103] In all of these three examples of Figs. 3 to 5, the location of the COG 220 remained at the same spot: in the geometric center of the circular aluminum float (marked by a cross symbol).

[0104] Summing up, Figs. 3 to 5 have shown that different placements of components 210A, 210B, 210C, 210D may result in an object having the same center of gravity, but different total weight and different rotational inertia.

[0105] Example B: Center-of-Gravity vs Center-of-Rotation, Figs. 6 to 10

[0106] The location of the center of rotation (COR) is subject to how the involved masses are distributed (placed in relation to each other) around an axis of rotation and will vary depending on the chosen axis (x, y, or z-axis).

[0107] In the following example, an object will be exposed to an “ideal” torque force (free vector) that wants to turn / rotate this object.

[0108] While in theory an “ideal” torque force exists, in practice it is very difficult to create a vector-free torque force. Most torque forces have “bound vectors” that must be specified in all calculations.

[0109] As shown in Fig. 6 with a top view (upper region) and a front view (lower region), two equal masses (ml / 210A and m2 / 210B) of 1 kg each are attached to the ends of a beam so that the distance from their own centers of gravity to each other is 1 .2 meters. The graphs in the diagram of Fig. 7 show what the rotational inertia will look like, when calculated for every reference location along the beam.

[0110] It shows that in this specific case, the rotational inertia and l2for mass 1 and for mass 2 are identical (0.36 kg m2) when taking the geometric center of the beam (at 0.6 m) as the reference point. Measured from this reference point, the distances to mass 1 (ml) and mass 2 (m2) are identical: r1 = 0.6 m and r2 is also 0.6 m.

[0111] At this specific reference location, it applies: = l2. ml *rl 2= m2 *r22

[0112] 1 kg * 0.62m2= 1 kg * 0.62m20.36 kg m2= 0.36 kg m2

[0113] In this example, the locations for the center of gravity (COG) and for the center of rotation (COR) are the same.

[0114] The line 210A represents the calculated rotational inertia 11 [kg m2] for the mass rm for each possible location along the 1 .2 m long beam, see upper region of Fig. 6. For example, the rotational inertia for r at the reference point 0.4 m is 0.16 kgm2while at the reference point 0.6 m it is 0.36 kgm2. Line 210B represents the calculated inertia l2for the mass m2.

[0115] Only at one location, the two calculated inertias h and l2have the same value: at the reference location 0.6 m. This is also the location of the center of gravity. In this symmetrical design, the locations for the center of gravity (COG) and for the center of rotation (COR) are the same.

[0116] The relationship between the locations COG and COR will change when dealing with a non-symmetrical design as shown In Fig. 8. In Fig. 8, the 1 kg mass on the right side of the beam (m2) is replaced by a mass of only 0.5 kg. The beam length remains the same: I = 1 .2 m.

[0117] The location of COG is now shifting to the 0.4-meter reference mark on the beam (i.e., from the initial 0.6 reference shown in Fig. 6, the COG is shifting towards the first mass mi, that is where both products of mass times lever-length (m * I) are identical:

[0118] 1 kg * 0.4 m = 0.5 kg * 0.8 m 0.4 kg m = 0.4 kg m

[0119] In other words, when hanging this device from a string that is tied to the location of the COG, the beam with the two weights (rm = 1 kg and m2= 0.5 kg) will be balanced and remain in horizontal orientation.

[0120] When calculatingthe rotational inertia ( and l2) for r and m2of the example of Fig. 8 at each location along the beam, then the cross-over location of (line 210A) and of l2(line 210B) is at the reference location 0.5 m.

[0121] Thus, while the COG is at the reference location 0.4, the COR is at the reference location 0.5, as shown in Fig. 9.

[0122] The location of the center of rotation for this object design is at the cross-over location where the calculated rotational inertia values are the same. This COR applies when rotational acceleration forces (angular acceleration) are applied to this device around the z-axis, i.e., around a vertical axis in the front view.

[0123] 1 kg * 0.52m2= 0.5 kg * 0.72m20.5 kg m2= 0.5 kg m2 For a non-symmetrical object design (as shown in Figs. 8 and 9), and when applying angular acceleration forces to this object around the z-axis (generally: around an axis that is perpendicularto a plane in which the mass distribution of the object is uneven or asymmetric), then the location of the center of rotation differs from the location of the center of gravity. In this case, the center of rotation is at the location where the values of the rotational-inertia and l2are the same.

[0124] This relation is shown in Fig. 10 with graph lines 210A and 210B, which show that the COR and the COG are at different reference locations along the beam length.

[0125] Example C: Creating the Penguin-Walk

[0126] A process was developed that allows the creation of linear motion by repeatedly changing and alternating the angular acceleration of a non-symmetrical object design. This process can be repeated several times per second (1 to > 1000 times per second) so that the consequences of rotational motion of the object cannot be observed by human eyes.

[0127] The term “non-symmetrical object design” means that the distribution of the individual masses of this object are such that the distance of their individual centers of gravity to the location of the objects center of rotation differs from each other. This enables the possibility of changing the location of the overall center of rotation in relation to the location of the object 's center of gravity when applying angular acceleration forces with different absolute amounts of value to it.

[0128] If this condition is not met (meaning that the object is made of a symmetrical design), then the here described propulsion generating process will not work and a penguin-walk pattern cannot be generated, meaning such an object keeps turning around the center of gravity (COG = COR).

[0129] Angular acceleration affects the location of the COR By applying different absolute values of angular acceleration to the object (in this example: around the Z-axis), then the location of the center of rotation will keep changing along the x-axis and be somewhere between the locations COG and COR1 as shown in Fig. 11 .

[0130] It is not the rotational speed that defines the location shift of the center of rotation. It is the angular acceleration. When there is no angular acceleration applied, the center of rotation is around the location of the center of gravity. As the angular acceleration force increases, the location of the actual center of rotation begins to move away from the location of COG and is moving towards the location marked in Fig. 11 as COR 1 .

[0131] The penguin-walk-pattern

[0132] With respect to Fig. 12, the first action (step 1 ) is to apply an angular acceleration force (cci ) to the object 100 around the Z-axis in CCW direction. The larger the angular acceleration force (cci) is, the more the location of the applicable COR moves towards the point COR1 as shown in Fig. 12. The location of the COR1 has been calculated using the rotational inertia equation as described in Example B of this document.

[0133] The second action (step 2) is to apply an angular acceleration force (a2) in opposite direction to the object 100, whereby the value of ABS(a2) is smaller or much smaller than ABS(ai). As the angular acceleration force in step 2 is now smaller that in step 1 , the location of the center of rotation (COR) is moving back towards the location of the center of gravity (COG). Assuming that the angular acceleration force would be very small then, in theory, the new COR2 is almost at the location of the COG. However, that would also mean that the time required to complete the second action (step 2) will take a much longer time.

[0134] The third and fourth action is then to repeat the first and second action. With each action, the object 100 moves a small step forward with an increasing speed. Generally speaking: applying the angular movement in the first direction and in the second direction repeatedly and in a consecutive manner applies a movement force onto the object.

[0135] Applying Angular Acceleration Forces onto an Object

[0136] Generally, the scheme described herein works with any device that is capable of applying angular acceleration forces to the test object in different directions and with controllable absolute values. For example, applying different angular acceleration forces to the test object can be achieved by:

[0137] Option 1 : generating torque forces by using an air-coil (inductors) to create a magnetic field that interacts with an external, uniform magnetic field, like the Earth Magnetic Field (EMF).

[0138] Option 2: generating torque forces by using an electrically powered motor which drives a flywheel, as shown in Fig. 13.

[0139] In Fig. 13, at the left end of a horizontal bar, the system electronics 120 and the power supply in form of rechargeable batteries are mounted. At the other end (right hand side), a vertically mounted electric motor is attached that drives a flywheel. The electric motor is the torque generator 110A, and the axis of rotation of the rotor and of the flywheel is vertical, i.e., parallel to the z-axis. When changing the motor speed in CCW or CW direction, either positive or negative torque forces are generated that act onto the test object. When running an experiment, the upper end of the vertical beam is attached to a string that is mounted to the ceiling of the test-laboratory.

[0140] Inductor generated magnetic field and the EMF

[0141] While coils and magnetic fields on the one hand and a motor with a flywheel on the other hand are interchangeable means for the torque generators, using coils and an external magnetic field may have certain beneficial properties to generate torque forces. As long as the orientation of the flux lines that have been generated by an inductor (e.g.: air-coil) that acts as the torque generator are not fully aligned with the external magnetic field (e.g.: EMF), this method allows to generate torque continuously for a longer period of time.

[0142] At any time, it is possible to switch off the generated torque forces without any unwanted consequences (e.g.: a kickback caused by energy stored in the inductor). There is no kickback like one will get from a flywheel solution.

[0143] On the other hand, using a motor with a flywheel may also have benefits.

[0144] Compared to a magnetic coil, a motor with a flywheel may generate significantly higher torque forces. However, this may require larger batteries (electric energy supply).

[0145] While the method of using a flywheel to generate torque forces is very efficient, this method may have at least two drawbacks.

[0146] Torque forces can be generated only during the phases when the flywheel number of revolutions is changing, i.e., when the flywheel number of revolutions is either increasing or decreasing. Once the maximum number of revolutions has been reached, the process of generating torque comes to a halt. This limits the time a torque force can be generated.

[0147] The process of generating torque forces requires that the flywheel will increase its rotational speed. This will result in storing lots of kinetic energy in the rotating flywheel. In a specific experiment it might not be convenient having to find ways to extract / remove the kinetic energy from the flywheel before it can be reused to generate the desired torque force.

[0148] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in anyway. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment of the invention. It will be understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the claims.

[0149] Additionally, it is noted that "comprising" or "including" does not exclude any other elements or steps and "a" or "an" does not exclude a multitude or plurality. It is further noted that features or steps which are described with reference to one of the above exemplary embodiments may also be used in combination with other features or steps of other exemplary embodiments described above. Reference signs in the claims are not to be construed as a limitation.

[0150] List of reference signs

[0151] 10 device

[0152] 100 body

[0153] 110A first torque generator

[0154] 110B second torque generator

[0155] 110C third torque generator

[0156] 111 first movement direction, clockwise movement

[0157] 112 second movement direction, counterclockwise movement

[0158] 115A first axis of rotation

[0159] 115B second axis of rotation

[0160] 115C third axis of rotation

[0161] 118 translational movement in a first direction

[0162] 119 translational movement in a second direction

[0163] 120 control unit

[0164] 130 energy supply unit

[0165] 140 center of gravity, COG

[0166] 150 center of rotation, COR

[0167] 200 carrier

[0168] 210 component

[0169] 220 center of gravity

Claims

Claims1 . A device (10) for transforming an angular momentum into a translational movement, the device (10) comprising: a body (100); a first torque generator (110A); wherein the first torque generator (110A) is attached to the body (100); wherein the first torque generator (110A) is configured to apply an angular movement (111 , 112) to the body (100) around an axis of rotation (150) of the body (100); wherein the angular movement takes place either in a first direction (111 ) with a first angular acceleration value or in a second direction (112) with a second angular acceleration value to thereby transform the angular movement into a translational movement.

2. The device (10) of claim 1 , wherein the first angular acceleration value is different than the second angular acceleration value.

3. The device (10) of claim 1 or 2, wherein an absolute amount of the first angular acceleration value is different than an absolute amount of the second angular acceleration value.

4. The device (10) of any one of the preceding claims, wherein the first direction (111 ) and the second direction (112) are in the same plane, and either the first direction or the second direction point in the direction of the translational movement of the device (10).

5. The device (10) of any one of the preceding claims, wherein the first direction (111) is opposite to the second direction (112).

6. The device (10) of any one of the preceding claims,27wherein the first torque generator (110A) is attached to the body (100) eccentrically.

7. The device (10) of any one of the preceding claims, wherein the body (100) has an asymmetric mass distribution with regard to a geometric center of the body.

8. The device (10) of any one of the preceding claims, wherein the first torque generator (110A) has a first axis of rotation (115A); wherein the first axis of rotation (115A) is perpendicular to the first movement direction (111) and the second movement direction (112) of the body (110).

9. The device (10) of claim 8, further comprising a second torque generator (110B) attached to the body (100) and having a second axis of rotation (115B); wherein the second axis of rotation (115B) is perpendicular to the first axis of rotation (115A).

10. The device (10) of claim 9, further comprising a third torque generator (110C) attached to the body (100) and having a third axis of rotation (115C); wherein the third axis of rotation (115C) is perpendicular to the first axis of rotation (115A) and the second axis of rotation (115B).11 . The device (10) of any one of the preceding claims, wherein the first torque generator (110A) is an electrically powered inductor.

12. The device (10) of claim 11 , wherein the electrically powered inductor is a coil.

13. The device (10) of any one of claims 1 to 10, wherein the first torque generator (110A) is a motor with a flywheel.

14. The device (10) of claim 13, wherein the motor is an electric motor.

15. The device (10) of any one of the preceding claims, wherein the first torque generator (110A) is configured to repeatedly apply an angular movement in the first direction and in the second direction.

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