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Modeling, Simulation and Analysis of a Variable Inertia Reaction Wheel Assisting Device


 Reaction wheels have been used in controlling the orientation of spacecraft and robots. They are particularly useful when there is not a solid foundation or track to support the motion. Tree pruning close to power lines is a risky activity that can lead to fatal accidents. The pole saw operator usually stays on top of a boom lift platform that is very bouncy and the space is very restricted. Using a reaction wheel to assist the motion of the pole saw can relief the human effort and make the operation faster. To improve the customization of the reaction wheel system a variable inertia rotor can be used, which can be adjusted to best fit the operation. The variable inertia is obtained by radially displacing the rotor segments thus increasing its moment of inertia. These segments are attached to the rotor hub through a set of springs and dampers. The rotor hub is driven by a reduction transmission attached to a brushless motor. This variable inertia reaction wheel system was modeled and simulated in two situations: kickback reaction and tree pruning. Although the system is composed by a single reaction wheel, the results showed that the system can help in both situations, reducing the effort up to 34%.