Abstract:
A method and apparatus for a gimbal propulsion system includes at least one pair of gimbals having counter rotating platters and counter rotating spinning weights to produce a net acceleration vector along a desired direction. A second and third pair of gimbals are added having gimbal arms that are spatially offset from each other by 2π/3 radians to produce a smooth acceleration vector along the desired direction.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention generally relates to propulsion systems, and more particularly to gimbal propulsion systems. 
       BACKGROUND 
       [0002]    Efforts continue to provide effective gimbal propulsion systems. 
       SUMMARY 
       [0003]    To overcome limitations in the prior art, and to overcome other limitations that will become apparent upon reading and understanding the present specification, various embodiments of the present invention disclose a gimbal array that may be effective to produce linear acceleration having a desired direction and a desired magnitude. 
         [0004]    In accordance with one embodiment of the invention, a propulsion device comprises a pair of gimbals configured to produce first and second acceleration vectors. The first and second acceleration vectors combine to produce a net acceleration vector along a desired direction of movement. 
         [0005]    In accordance with another embodiment of the invention, a propulsion device comprises a first gimbal having a first arm coupled to a first rotating platter and a second arm coupled to a first spinning weight, where the second arm is raised and lowered through a first pitch cycle and the first platter is rotated through a first rotation cycle. A period of the first pitch cycle and a period of the first rotation cycle are equal. The propulsion device further comprises a second gimbal having a third arm coupled to a second rotating platter and a fourth arm coupled to a second spinning weight, where the fourth arm is raised and lowered through a second pitch cycle and the second platter is rotated through a second rotation cycle. A period of the second pitch cycle and a period of the second rotation cycle are equal. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0006]    Various aspects and advantages of the invention will become apparent upon review of the following detailed description and upon reference to the drawings in which: 
           [0007]      FIG. 1  illustrates an exemplary gimbal in accordance with one embodiment of the invention; 
           [0008]      FIG. 2  illustrates an exemplary gimbal in accordance with another embodiment of the invention; 
           [0009]      FIG. 3  illustrates an exemplary gimbal in accordance with another embodiment of the invention; 
           [0010]      FIG. 4  illustrates an exemplary gimbal pair in accordance with another embodiment of the invention; 
           [0011]      FIG. 5  illustrate a system of linear acceleration vectors and their respective net vector sums generated at various positions of the gimbal pair of  FIGS. 4 ; and 
           [0012]      FIG. 6  illustrate a system of linear acceleration vectors and their respective net vector sums generated at various positions of a triple gimbal pair in accordance with another embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0013]    Generally, the various embodiments of the present invention may be applied to generate a linear acceleration vector that may be converted from the gyroscopic precession torque as may be generated from a gimbal-mounted spinning mass. The magnitude and direction of the linear acceleration vector may be controlled along substantially any desired direction of movement. Accordingly, for example, the generated acceleration vector may be used to provide propulsion substantially along any direction with substantially any magnitude. 
         [0014]    Turning to  FIG. 1 , gimbal  100  is exemplified whose position may be expressed using the spherical coordinate system. Theta (θ), for example, may be expressed in radians and may give the angle between the lower part of the gimbal arm (e.g., gimbal arm  102  on which spinning weight  104  is mounted) and the upper part of the gimbal arm (e.g., gimbal arm  106  which attaches the assembly to platter  108 ). 
         [0015]    Phi (φ), for example, may be expressed in radians and may give the angle between the orthogonal projection of gimbal arm  102  onto a plane parallel to platter  108  and centered on the joint in the gimbal (e.g., joint  110 ) and an arbitrary azimuth as further defined below in greater detail. 
         [0016]    Radius (r), for example, may be the distance between joint  110  of the gimbal arm and the center of mass of spinning weight  104 . As an example, radius (r) may be constant as may be the case when using a fixed length gimbal arm  102 . 
         [0017]    A spherical expression of the position of gimbal  100  may be expressed as (r, π/2, 0), for example, when gimbal  100  is pointed backward and gimbal arm  102  is raised to 90 degrees. As gimbal arm  102  is lowered from 90 degrees to an angle that is less than 90 degrees (e.g., by k radians) and when gimbal  100  is pointed forward, the spherical expression of the position of gimbal  100  may be expressed as (r, π/2+k, n). Generally, Theta (θ) may be expressed in terms of Phi (φ) as in equation (1): 
         [0000]      θ(φ)=(− k/ 2) cos (φ)+( k +π)/2   (1)
 
         [0018]    Gimbal  100  may involve a number (e.g., 3) different modes of rotation. A first mode of rotation (e.g., rotation) may refer to the change in position of platter  108  as it rotates (e.g., in direction  112 ) along angle, Phi (φ), which may be expressed as dcp. A second mode of rotation (e.g., pitch) may, for example, refer to the change in the angle, Theta (θ), as gimbal arm  102  is raised and lowered, which may be expressed as dφ. The third mode of rotation (e.g., spin) may, for example, refer to the rotation of the spinning weight  104  about the axis formed by gimbal arm  102 . 
         [0019]    As an example, one complete rotation of platter  108  may define an amount of time (e.g., period), which may be described as the amount of time that platter  108  may be rotated through a complete cycle (e.g., 360 degrees or 2π radians). Similarly, an amount of time that the angle through which gimbal arm  102  may be traversed starting from a beginning position (e.g., π/2 radians) to a lower position (e.g., π/2+k radians) and back to its beginning position may be expressed as the same period of time through which platter  108  may be rotated through one complete cycle. Accordingly, for example, as platter  108  completes one rotation cycle, gimbal arm  102  may complete one pitch cycle. Such a synchronized rotation/pitch cycle may be expressed as in equation (2): 
         [0000]        dθ/dt =( k/ 2) sin (φ)( dφ/dt )−(½)( dk/dt ) cos (φ)+(½)( dk/dt )   (2)
 
         [0020]    Turning to  FIG. 2 , a method of propulsion may be explained in terms of rotation and pitch as discussed above in relation to  FIG. 1 . Platter  208  may, for example, be rotated in direction  212  while spinning weight  204  spins in direction  214 . Given the pitch of gimbal arm  102  as shown (e.g., a pitch as defined in its first half period), a torque (e.g., torque  218 ) may be exerted on gimbal arm  202  which may tend to angle gimbal arm  202  downwards. According to the physical laws that govern gyroscopic movement, the downward tangential acceleration acting on spinning weight  204  may not lower spinning weight  204 , but may instead cause spinning weight  204  to precess (e.g., tend to accelerate the rotation of platter  208  in direction  212 ). 
         [0021]    Platter  208 , however, may be configured to prevent the precession torque tending to accelerate the rotation of platter  208  along direction  212 , and instead may cause spinning weight  204  to drop along torque vector  218 . A reactionary acceleration vector  216  may then be produced that may provide the propulsion along a desired direction and magnitude in accordance with one embodiment of the invention. 
         [0022]    Turning to  FIG. 3 , the rotation of platter  308  along direction  312  and the spin of spinning weight  304  along direction  314  may remain the same, but the pitch of gimbal arm  302  may be changed (e.g., a pitch as defined in its second half period). Accordingly, a torque (e.g., torque  318 ) may be exerted on gimbal arm  302  which may tend to angle gimbal arm  302  upwards. According to the physical laws that govern gyroscopic movement, the upward tangential acceleration acting on spinning weight  304  may not raise spinning weight  304 , but may instead cause spinning weight  304  to precess (e.g., tend to decelerate the rotation of platter  308  opposite to direction  312 ). 
         [0023]    Platter  308 , however, may be configured to prevent the precession torque tending to decelerate the rotation of platter  308  in a direction opposite to  312 , and instead may cause spinning weight  304  to raise along torque vector  318 . A reactionary acceleration vector  316  may then be produced that may provide the propulsion along a desired direction and magnitude in accordance with one embodiment of the invention. 
         [0024]    Turning to  FIG. 4 , a pair of gimbals is exemplified, in which the same rules as discussed above in relation to  FIGS. 2 and 3  apply. The rotation of each platter of each gimbal may be in opposite directions and the spin of each spinning weight of each gimbal may be in opposite directions as shown. Accordingly, whenever the direction of a first reactionary acceleration vector is produced by one gimbal that does not coincide with the desired direction of travel, the paired gimbal may produce a second acceleration vector that cancels the first acceleration vector. As a result, the only acceleration vectors produced by the gimbal pair of  FIG. 4  are those acceleration vectors produced along a desired direction of travel. 
         [0025]    Turning to  FIG. 5 , a representation of the acceleration vectors produced by each gimbal of the gimbal pair of  FIG. 4  at  10  discrete positions of rotation of each respective platter are exemplified (e.g., the acceleration vectors of each gimbal are exemplified in the circular pattern of acceleration vectors of  FIG. 5 ). By counter rotating each respective platter and by counter spinning each respective spinning weight, the respective net acceleration vectors (e.g., the net acceleration vectors are those vectors exemplified as pointing downward) are each pointing in a direction of the intended travel. 
         [0026]    Turning to  FIG. 6 , a number of pairs (e.g., 3 pair) of gimbals may be utilized to produce the net acceleration vectors as shown. Due to the change of direction, the net forward acceleration may be smaller towards the beginning and end of each period of a pair of gimbals. In one embodiment, in order to provide that the overall motion of the system be smooth, a number of pair (e.g., three pair) of gimbals may be utilized to produce net acceleration vectors in the same direction, but with an offset (e.g., 120 degrees or 2π/3 radians) in the Phi (φ) angle of each gimbal arm of each gimbal pair. 
         [0027]    Other aspects and embodiments of the present invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended, therefore, that the specification and illustrated embodiments be considered as examples only, with a true scope and spirit of the invention being indicated by the following claims.