Kinematics and dynamics of a double-gimbaled control moment gyroscope

Control moment gyroscopes (CMGs) are torque-generating mechanisms that can be used for attitude and vibration control of spacecraft. CMGs consist of a rotating flywheel as well as a wheel-tilting actuator. Most CMG designs allow the flywheel spin axis to tilt about only one axis––a single-gimbaled CMG. This paper develops and analyzes the kinematics and dynamics of a novel double-gimbaled CMG design. The compact CMG design involves two four-bar linkages allowing the axis of rotation of the spinning flywheel to have two degrees of freedom.