Recoil Stabilization of Two-Wheeled Robot Through Control Moment Gyroscope (CMG)

In this study, the weapon and gyroscopes mounted on the armored two-wheeled robot have been studied for controlling recoil dynamics. To date, the interaction between recoil energy and control moment gyroscope (CMG) has not been investigated for a two-wheeled robot. Therefore, this study will be interesting academic research in the dynamic response and control strategy of a CMG subjected to recoil impulsive loads resulting from firing the weapon. The first aim of this study is to maintain the stabilization of the robot within the CMG limits when subjected to impulsive loads without needing the allowable stroke as being for a hydraulic damper. Equations of motion and the correlation between the shot recoil and angular momentum are derived by the Lagrangian method and simulated by Matlab. Then RecurDyn model of the two-wheeled robot is used to control and analyze dynamic parameters under applied recoil energy. As a result, the comparison of RecurDyn simulation and Matlab data are extremely exact and the Lagrangian equations can be used to obtain optimal parameters of the two-wheeled robot concerning the correlation between gyroscopes and weapon.