Graduation Project

Motorized Gyroscope Manufacturing

Students:
Ashraf Jodeh
Ameer Hasan
Bashar Alqerm
Yousof Odeh
Contents
 Abstract
 What is Gyroscope ?
 History
 Problem Definition
 Gyroscopic Principles
 Manufacturing (Mechanical and Electrical parts)
 Experiment
 Abstract

The idea of this project is to design and manufacture a gyroscope

which is driven by an electric motor to make it spin indefinitely.

?What is the Gyroscope

The gyroscope is a device for measuring or maintaining orientation,

based on the principles of angular momentum.

.History of Gyros

Basically, a gyroscope is a top, a self-balancing spinning toy, put to

.instrumental use
.Cont
• John Serson who is the first one use a top as an instrument when he

invented the "Whirling speculum" (or Serson's Speculum) in 1743.

“Artificial Horizon”

• In 1817, German Johann Bohnenberger used the instrument as an actual

gyroscope.

• In 1852, Leon Foucault used the gyroscope in an experiment to see

the Earth's rotation.

.Cont

• In 1860, electric motors used to make the gyroscope spin

indefinitely. .

• In 1909, Elmer A. Sperry built the first automatic pilot for aircraft

using gyroscopes.
.Cont

• 20th century, gyroscope used in black box navigational systems

and for inertial guidance systems for ballistic missiles.

• Today the MEMS (Micro Electro-Mechanical System) gyroscopes

have enabled exciting applications in portable devices.

Problem definition

Gyroscope is very important tool used for various controls in high

technology vehicles and devices, and takes a good place in

research and development.

Thus the study of gyroscope behavior is so important for

engineering students.
Gyroscopic Principles

The gyroscope exhibits two predominant characteristics:

1. Rigidity in Space

2. Precession
1. Rigidity in Space

The spinning rotor inside a gyro instrument maintains a constant

attitude in space as long as no outside forces change its motion.

This stability increases if the rotor has great mass and speed.
2. Precession

Another characteristic of gyros is precession, which is the tilting or

turning of the gyro spinning axis as a result of applied forces.

Electrical and Mechanical
parts
The Universal Motor
:General Description

Universal or series motors are those having brushes, a wound rotor,

and a wound stator. They are compatible with both AC and DC

power.

They are also distinguished by their noisiness. These motors

produce so much noise because the brushes rub on the slotted

armature.
Uses

Manufacturers use universal motors because they are smaller and

much lighter than induction motors. An example of this type is

that found in a portable drill or a Dremel tool.

Basically the DC motor characteristics that can be run on AC.

:Comparison to Induction Motors

A 3/4 Hp induction motor...runs at 1075 - 3450 RPM, is about 6"

long x 6" diameter and weighs about 19 pounds. If we compare

this with a universal motor with 3/4 horsepower output, we see a

speed increase of about 15,000 RPM, a size reduction to about 6"

long x 3" diameter {1/4 of the volume} and a weight reduction of

greater than 85%.

Advantage

1. The weight difference is huge: Universal motors are much

lighter than induction motors

2. Torque goes clear down to stall torque (DC motors will stall at a

high RPM)

3. Lower cost
4. Variable speeds
:Disadvantage

1. Non reversible (one direction)

2. Noisy
3. universal motors are usually relatively inefficient- around
30% for smaller motors
4. and up to 70-75% for larger ones.

5. the commentator has brushes that wear, so they are much

less often used for
6. equipment that is in continuous use
Tachometers
?Tachometer, What’s That

Tachometer is used for measuring rotational speed

Can be used to measure speed of a rotating shaft

Can also be used to measure flow of liquid by attaching a wheel

with inclined vanes

What Are the Different Types of
?Tachometers
Tachometers can be classified on the basis of data
acquisition – contact or non contact types

They can also be classified on the basis of the

measurement technique – time based or
frequency based technique of measurement

They can also be classified as analog or digital type

Typical Specifications of a Non
Contact Type Tachometer
Display 5 digits large LCD
Range: 2.5 - 99,999 RPM
Distance: 50 to 1,000 mm; 12 to 40 inches.
Resolution: 0.1 RPM<1000 RPM (2.5 to 9,999
RPM)
1.0RPM >1000 RPM
Measurement angle: at less than 120
degrees.
Range selection: Auto
Laser Output Power: <1mW class II
Sampling Time: 1.0 seconds (over 60 RPM)
Memory: Last value, Max Value, Min. Value
Time base: Quartz crystal
Circuit: Exclusive one-chip LSI circuit
Battery: 4 X 1.5V AA
Weight: 300g/0.65lb
Size: 190 X 72 X 37 mm
Block Diagram of a Digital
Tachometer

Display

External
Optical / Signal Microcontroller Port (to
Magnetic Sensor Conditioning controller)

Memory
Microcontroller

Not essential, but is generally the norm to have a microcontroller

Compute the speed
Can store the readings
Can output values to a display unit
Give out warning signal when speed reduces / increases beyond set
margins
Transfer data to external controller
We used the aurdino as a microcontroller
 ?What is Arduino
A programmable micro controller for prototyping electromechanical
devices

You can connect Digital and Analog electronic signals:

Sensors (Gyroscopes, GPS Locators, accelerometers)

Actuators (LEDS or electrical motors)

Arduino Components
 Bearings
The typical structure for bearings
involves :
inner race -
outer race -
Inner ring -
Outer ring -
separator or ( cage ) -
Balls or rollers -
: As we see in the figure
 Types of rolling element bearings

1. ball bearing ( spherical rolling elements )

single row double row single row double row

Angular cotact angular contact deep-groove radial deep-groove radial
single row deep-groove Double row deep-groove grooved race thrust
Externally self-aligning Internally self-aligning
roller bearings (cylindrical rolling elements ) .2

single row straight double row straight single row tapered double row tapered
roller bearing roller bearing self-aligning roller bearing roller bearing
self–aligning

single row spherical double row spherical needle roller tapered roller thrust

roller bearing
 Bearing materials

the responsibility for achieving the design objectives ( selection the best
material best geometry ) lies with the specialized designer working in the
. bearing industry

: The material of ball & races •

high carbon chrome steel : hardened and tempered for . 1 .1

. optimum strength and toughness
stainless-stee : used when corrosion resistance is needed or elevated .2
.temp

. Cobalt : for higher temp applications .3

: the separator material include * •

. phenolic ,bronze , phosphor bronze , or alloy steels such as AISI 4130 •
: Procedure for selecting an appropriate bearing for our project

. shaft of the motor and the disc .1

. diameter = 10 mm -
. Fᵣ =20 N -
. shaft speed = 4500 rpm -
design life specification is 10 years of operation , -
. 50 days/year, 20 hr/day
. design reliability specification is R =90 percent -
. the shaft is uniform load -

Ld = 10 yr * (50 days/yr) *(20 hr/day) (60 min/hr)

. 4500 rev/min = 27 X10^8 revolutions
From table of reliability Kr = 1
From table of impact factor IF = 1.1
Pe = Xd *Fr + Yd*Fa
Xd1= 1 Yd1= 0
Xd2 =0.55 Yd2 = 1.45
Pe1 =(1)(20)= 20 N
Pe2 =(0.55)(20) = 11 N
Pe1>Pe2

Select the larger Pe1= 20 N

[ Cd(90) ]req =( 27 x10^8 /(10^6) )⅓(1.1)(20) = 306.3 N
Select bearing type (6000)
Pse =Xs*Fsr + Ys * Fsa
Xs1= 1 Ys1 = 0
Xs2= 0.6 Ys2 = 0.5
1 =(1)(20) =20 N)Pse(
2 =(0.6)(20) =12 N)Pse(
1>(Pse)2)Pse(
Select the large r( Pse)1 = Cs
Select bearing number (6000)
Type of bearing for the shaft is ( 6000)
standing shaft .2
diameter = 40 mm -
. Fa =200 N -
shaft speed = 4500 rpm -
R =90 percent Kr = 1 -
the shaft is uniform load IF = 1 -
.Ld = 27x 10^8 rev
req = 4442.0005 n] Cd(90) [
Select bearing type (6008)
2 = Cs = 100 n)Pse (
Select bearing number (6008)
Type of bearing for the shaft is ( 6008)
shaft that will connect the body of disk .3
. with body standing
diameter = 12 mm -
. Fᵣ =15 N -
shaft speed = 4500 rpm -
R =90 percent Kr = 1 -
the shaft is uniform load IF = 1 -
.Ld = 27x 10^8 rev -
req = 229.75 N] Cd(90) [
Select bearing type (6002)

1 = Cs = 15 n)Pse (
Select bearing number (6002)
Type of bearing for the shaft is ( 6002)
 Specifications
 Mass of rotating disk = 1.2Kg.
 The radius of the rotating disk
= 0.1 m.
 The distance from the disk to
the weight = 0.2m.
 Motor speed ranged (1-
1000)r.p.m.
Material

 Really, I do not know the type

of material which being used.
But I will try to predict it from
machining processes.
 Material
Structure machining :
At low cutting speed, I
obtained a continuous
chips with built-up edge.
and The formation of
these chips start cycle
then break off.
 Material
 That mean I have a low carbon
steel (ductile material). as
shown in figure (1).

Fig.(1):Continuous Chips
 Material
Disk machining:
At low cutting speed, I
obtained a discontinuous
chips and high tool chips
friction.
Material

 That mean I have high carbon steel

(brittle material). as shown in figure
(2).

Fig.(2): Discontinuous Chips

Connecting

Using some types of bolts,

pins and Shielded Metal Arc
Welding and Argon Arc
Welding to connect parts of
the structure.
Connecting

Why argon:
 Using Argon Arc Welding to connect
the boxes of bearings with the
structure.
 It is more suitable welding for thin
parts because it gives a narrow bead
and no splatter.
 Conclusion
As we know we built these
apparatus to verify the
relation between spinning
velocity, applied torque
with precessional velocity.
 Conclusion
Precessional velocity is directly proportional
with applied torque as shown in figure(3).
10

Precessional
velocity ωp
8

(r.p.m)
6
4
2
0
0 0.05 0.1 0.15 0.2 0.25 0.3
Applied torque T (N.m)

Fig.(3): Torque vs. Precessional velocity

 Conclusion

precessional velocity is inversely proportional

.with spinning velocity as shown in figure(4)
3

Precessional

ωp(r.p.m)
2

velocity
1
0
0 250 500 750 1000
Spin velocity ω (r.p.m)

Fig.(4): Precessional velocity vs. Spin velocity

Sources of error

 The error of apparatus is 10.2% induced

by friction of bearing and huge
vibration caused by universal motor.
 Therefor, We used dampers and
coupling joint to reduce these
vibrations and improving accuracy.
Thank You.