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Overview

The 3 DOF Gyroscope consists of a disk mounted inside an inner gimbal which in turn is mounted inside an outer gimbal. The entire structure is supported by a rectangular frame that is free to rotate about its vertical axis of using a slip ring design. The gimbals are also equipped with slip rings, allowing them to rotate freely and giving the disk three degrees of freedom. The plant is equipped with four DC motors and four encoders, with the ability to fix individual axis. Axes positions are measured using high-resolution optical encoders. Although the gimbals and outer frame are free to rotate, the plant provides the ability to fix any desired axis (outer frame, red and blue gimbals).

4 DOF sensed and 4 DOF actuated (over-actuated) system
Multi-coloured yaw, roll and pitch axes for easy distinction
Mechanically balanced through the entire workspace
High-resolution optical encoders for accurate measurement
Slip rings provide infinite continuous motion in each DOF
Direct drive actuation to achieve negligible friction on all axes
Precise, stiff and heavy-duty machined components

Dimensions (W x L x H) 70 cm x 50 cm x 50 cm
Total mass 27.3 kg
Disc encoder resolution (in quadrature) 4096 count/rev
Gimbal / frame resolution (in quadrature) 4000 count/rev
Disk motor output power 44.5 W
Gimbal / frame motors output power 266 W
Rotor mass 1.91 kg
Rotor diameter 0.152 m
Rotor thickness 0.0127 m

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