AGARD-AG-3 AGARDograph DISTRIBUTIfdN Distribution Unlimited_ DISTRIBUTION AVAILABILITY AGARD-AG-3 13 NORTH ATLANTIC TREA'I Y ORGANIZATION GROUP FOR AEROSPACE AND DEVELOPMENT (ORGANISATION DE LATLANTIQUE AGARDograph No.313 THE ANATOMY OF THE GYROSCOPE Frank WCousins 43 Emmanuel House 18 Rochester London, SWi L.Hollington Industries/Aerospace 'U'announned Cheltenham, This AGARDograph has been prepared and edited at the request of the Guidance and Control Panel THE MISSION OF AGARD According to its Charter, the mission of AGARD is to bring together the leading personalities of the NATO nations in the fields of science and technology relating to aerospace for the following purposes: -Recommending effective ways for the member nations to use their research and development capabilities for the common benefit of the NATO community; -Providing scientific and technical advice and assistance to the Military Committee in the field of aerospace research and development (with particular regard to its military application); -Continuously stimulating advances in the aerospace sciences relevant to strengthening the common defence posture, -Improving the co-operation among member nations in aerospace research an- development; -Exchange of scientific and technical information; -Providing assistance to member nations for the purpose of increasing their scientific and technical potential; -Rendering scientific and technical assistance, as requested, to other NATO bodies and to member nations connection with research and development problems in the aerospace field. The highest authority within AGARD is the National Delegates Board consisting of officially appointed senior representatives from each member nation. The mission of AGARD is carried out through the Panels which are composed of appointed by the National Delegates, the Consultant and Exchange Programme and the Aerospace Applications Studies Programme. The results of AGARD work are reported to the member nations and the NATO Authorities through the AGARD series of publications of which this is one. Participation in AGARD activities is by invitation only and is normally limited to citizens of the NATO nations. The content of this publication has been reproduced directly from material supplied by AGARD or the Published March 1990 Copyright AGARD 1990 All Rights Prited by Specialised Printing Serices Linited 40 Chigwell Lane, Loughton, Essex IG10 37Z to Parts I and II (published in February 1989) The purpose of this report is to direct the student of the gyroscope and gyroscopic phenomena to that ierra of technical literature that resides primarily In the patent literature of the United Kingdom and the United States of America", augmented by that which resides In the technical journals of each of those nations and those of the U,S,S,R. I have tried to review all of the British patent specifications, but I am well aware that there may be some lacunae, I have not been able to extend my researches into a complete examination of the patent specifications of the United of America, but where I do record them, and provided they have a number higher than specification will Itself provide a review of the related prior art, Hence each U.S, specification Is itself a valuable to a much deeper field of enquiry. It Is the same with the learned journals of the World, each paper will carry a useful bibliography and again the field of enquiry Is remarkably extended thereby, I have seen all of the entries I have made and I have given the names of the Journals in full to try to save the confusion that surrounds the present poor state of bibliography, To produce this report has taken fourteen years of research, and I think I may be allowed to draw attention to that part that deals Inter alla with gyroscopic gears, The subject has not previously appeared In any text on gear design, and is to be far as I am aware, solely in the patent literature, I offer It here, for the first time to a wider audience, aux chapitres I et 11 (editis en Fkvrler 1988) L'objet du prdsent rapport est d'orienter l'dtudiant du gyroscope et des phinomtnes gyroscopiques vers cette Incognta"ft de Ia littdrature technique. Cello-l se trouve principalement dans ]a documentation concernant les brevets au Royaume Uni et aux Etats Unistt ct dans les revues et journaux techniques de chacune de ces nations ainsi quo de I'URSS. Jo me suis imposd comme tAche de passer en revue toutes lea sp6cifications de brevets britanniques, mais jo suls conscient du fait qu'il pourrait y avoir des lacunes. n'al pu t6 en mesure d'Elargir le domaine do mes recherches afin do prEsenter une revue exhaustive des sp~cifications de brevets des Etats-Unis, mal lih ou j'y fais rifirence -et pourvu qu'iI lul soft attribu6 un numdro du c.1947 -chaque spciflcation US fournira d'elle-m6me un aperqu de I'dtat de 'art prE-existant. spdcification US sort done do rifirence prdcieuse h une activitE de recherche plus approfondle. II en eat do meme pour Ia litt6rature savante du reste du monde, otz chaque communication comporte des r~fdrences bibliographiques de valeur, qui serviront aussi k diargir le champ des recherches do faqon considErable. J'ai examinE personnellement tous les documents incius dans mon rapport etj'ai citE les noms des diffdrentes toutes lettres, en esp~rant ainsi dviter Ia confusion qul caractdrise Ia situation actuelle midlocre de Ia bibliographic dans Le prEsent rapport reprdsente un travail de recherche do quatorze ans, ct je pcnse qu'il mc scrait permis de signaler Ia partie qui traits Inter alia des engrenages gyroscoplques. sujet no parait nullc part aillcurs dans los textes concernant Ia conception des engrenages, et h ma connaisance, il n'est traitt quo dans Ia littdraturc des brevets. Je le propose, pour Ia premire fois, h un public plus large. Frank WCousins Westminster The rm is not too extravagant since The British Library in London holds in excess of twenty two million patent specifications. 'eh research has been primarily In British and American patent specifications and in consequence corresponding foreign exist. Tho reader is directed to study the problem from Derwent Patent No, Family Index which began In c,1974. t I..e terms n'est pas trop fort pulsque Ia British Library do Londres contient plus do 22.000,000 ApEcifications do brevets. Nos reeherches ont portd prdncipalement sum let spifications do brevets britanniques ot americains, et par con quent, II so pout qu'il existe des sp cficatlons trangires Equivalente. Nous attlrons ratlention du lecteur sur Derwent Patent No, Family Index, qul date de c,1974. ACKNOWLEDGEMENTS AND INTRODUCTION Part III of the report seeks to give a little relief by way of picture and comment to the largely numerical data of Part I and the bibliographical-data of Part II. It is highly selective, being but a personal abstraction of material gathered over many years of research. The selection has been made to cover certain features that are neglected in the general literature that is directed to the gyroscope and gyroscopic phenomena, yet abundantly illustrated from inter alia the patent literature of the United Kingdom and the United States of America. The original material abstracted for Part III has had to be reduced and the skillful editing of the present part of the report is due to my friends Mi J.L.Hollington and Mr D.S.Markham of Smiths Industries Aerospace and Defence Systems. Their interest in the presentation of the whole report to a wider public has brought it to a successful conclusion. Frank W.Cousins Westminster 1988 EDITORIAL COMMENT It has been a pleasure and a privilege to edit this fine work by Mr Frank W.Cousins. Naturally, it is a personal document that reflects his deep understanding of the topic and the great attention to detail evidenced throughout the whole work. The painstaking manner in which the material has been collected and collated over the years has made the task of editing straightforward and rewarding. These volumes are commended not only to a newcomer to this field of enquiry, but to those established practitioners in the art who will find between these pages much that is of interest, and that which will enhance still further-their appreciation J.L.Hollington Cheltenham 1988 PREFACE to Parts I and 11 ACKNOWLEDGEMENTS AN~Il'NTRODUCTION FRONTISPIECE 1. -DEFINITIONSAND ANTfECEDENTS 5-OF T-lE GYROSCOPE- 1.1 DEFINITIONS 1.2 PRECURSORS 1.3 THIETOP 1.4 SERSON'S GYROSCOPIC SEXTANT 1.5 GENERAL COMMENTS 2. i =DISCOVERYI 15.. i 2.1 r;iBiiENBERGER'S MACHINE, 1 "HSNS OACO l 2-3- GYROSCOPIC SUSPENSION~ 3. =EARLY APPEAL.TO GYROSCOPICFORCES AND THE ETARLY GYROSCOPE j-31 331 cfgOMERANGS AD 3.2 4PULVERISING MILL.,o (EARLY -G-YROSCOPIC--APPLICATIONS AND THE~bRK OF E.A. SPERRY 38 4. -DIFFERENTIATING INTEGRATING GYROSCOPE' GYROSCOPE) 7A- --OSCILLOGYRO,> VIBRATINGJRING.GYROSCOPE> 7.3 VIBRATING BELL-GYROSCOPE., 7.4 SINGLE REEDGY-ROSCOPE 1~5 TUNING FORKGYROSCOPE,. 7.6 CRYSTAL GYROSCOPE- 8. -INTERFEROMEFFRICRGYROSCOPE W- LASER YRSOP 912 MASER GYROSCOPE> 8.4 7ACHZHE HEEOYE UCERGRSOE119 9. -GYROSCOPIC G3YROSCOPIC TRANSMISSIONSJ/ 9X -TYE COFDEVICES) 92 APPROACH TUNIDIRECTIONAL TORQUE 9.3 TORQUE CONVERTERS. 94 IkANSMISSIONS) 6 9.5 DIFFERENT'IAL FLUID COUPLER A$ND-HYDRO-KINETIC COUPLINGS.- OVROSCOPEzAND GYROSCOPIC-11RCEs yLESCOPES) GUNSIGHTS, i3OMBSIGHTS, NORAICSEXTANTS ANORAMIC.FILMYIEWER fER1SCOPES) NAVIGATION lKANGEFINDERS, STABILIZATION APPLICATIONS.OF GENERAL.JRELATIVITY GYROSCOPES STABILITY~ GYROSCOPICN~ERTILLDf1VESI,~ Frotisiee. b oreyofteVen 1. DEFINITIONS AND ANTECEDENTS OF THE GYROSCOPE 1.1 DEFINITIONS Gyr-o-scope (skopeo) = to look at, or behold.1 Astron. Mach.: An instrument constructed by a Frenchman, called M. Foucault, to make the rotation of the earth visible. The principle on which it proceeds is this -that, unless gravity intervene, a rotating body will not direction in which its permanent axis points. In the gyroscope there is a rotating metallic disc, the middle point of whose axis is also the centre of gravity of the machine. By this device the action of gravity is eliminated. The instrument, moreover, is so constructed that the axis of rotation made to point to some star in the sky. Then, as the heavy disc whirls round, it is found that the axis continues to point to the moving star, though, in consequence of this, apparently altering its direction relatively to bodies on the earth. if, again, the axis be pointed to the celestial pole, fixed, no alteration in its position relative to bodies on the earth takes place. The only feasible explanation of these appearances is that the earth is revolving on its axis. (Sir George Biddell Airy, 7th Astronomer Royal: Popular Astronomy, Lloyds's Encyclopaedic Dictionary*. (1895) Gyroscope (Foucault, 1852): An instrument designed to illustrate the dynamics of rotating bodies, and consisting essentially of a solid rotating wheel mounted in a ring, and having its axis free to turn in any direction. A New English Dictionary on Historical Principles. Henry Bradley. (The lexicographic genesis of the term). Gyroscope. A machine embodying one or more masses, each of which can rotate simultaneously about two axes which are nct parallel to each other. C.H. Van Asperen. U.K. Patent Specification 422577 Gyroscope. Gyroscopic action is manifested by any body which is free to turn about three axes, each of which is perpendicular to the other two. Its chief characteristic is the fact that a force exerted on the body does not turn it about the axis about which the force is applied, but about another axis at right it. A secondary characteristic is the fact that a condtant force does not cause the body to develop an increasing angular velocity, but to "precess" with constant angular velocity. In these respects, the gyroscope appears to contradict the laws of motion, but the contradiction is, however, only apparent. Dictionary of Mathematics. (1961). Gyroscope -essentially a spinning wheel, suspended generally upon bearings and having at least a partial freedom to carry out a change of orientation of its spin axis. Savet. Celerina. 45. (1962). This is one of the earliest entries known. There is no entry for example in The Penny Cyclopaedia. 27 vols (1833-43). Any rotating body having freedom in one or moie planes at right of rotation is called a gyro or gyroscope. having complete in three planes angles to each called a free Mechanically complete freedom of a wheel planes can be realized by system of gimbals. a rotating ball held in a gyroscope; in fact, the Earth itself is a gyroscope. Gyroscope. used, in various modifications conjunction with other equipment, to provide a horizontal vertical reference (as in the and the gyro-compass), to stabilize vehicles,- and to measure velocity and angdlar acceleration turn-and-bank indicator and other navigational A supplement to the Oxford English Dictionary. R.W. Burchfield. A conventional is a mechanism comprising a rotor journaled axis, the journals rotor being mounted in an inner gimbal gimbal being journaled for oscillation in an outer gimbal turn is journaled for oscillation support. The outer gimbal is mounted so as to pivot about an axis in its own plane determined outer gimbal possesses one rotational freedom axis possesses inner gimbal is mounted in the outer gimbal an axis in plane which axis is always axis of the outer gimbal. gimbal possesses of rotational and its axis possesses one. is journaled axis which is always normal to the axis of the inner rotor possesses three degrees of rotational and its axis possesses two. The centre of gravity of the rotor is thus in a fixed rotor simultaneously about one axis-and is capable of oscillating two other axes, except for its inherent resistance rotor spin, it is free to turn in any direction about the fixed point. Some gyroscopes have mechanical equivalents substituted or more of the the spinning be suspended in a fluid, in gimbals. In some special the outer gimbal equivalent) may be omitted so that the i two degrees of freedom. In other cases, the centre of gravity of the rot may be offset from the axis of oscillation, the centre of gravity o- the rotor and the centre suspension of the rotor may not coincide. Patent Office. My definition of a gyroscope spinning body whose axis of spin is capable of being rotated non-parallel axis. Precession the opting for motion and I would term this "rotation opposed to that a "dead mass", c.f- an excited motor as opposed "unexcited" E. R. Laithwaite. Electrical Vol. 207 No. 1.2 PRECURSORS Precursors lie in three widely separated parts of the world structure, in the macrocosmos, in the microcosmos and in one solitary class of the animal kingdom, Insecta. The first plrt is discussed mathematically in the works inter alia of POISSON. S.D. (1827) BRAUNBEK. W. (1953) and WIEBELITZ. R. (1955).-n-astronomy the main interest lies in the perturbations of the Earth in its axial rotation and orbital revolution about the Sun under complex forces from both the Sun and planets of the Solar System that cause the Earth both to precess and nutate. For a short discussion of the subject see CONDON E.U. and CLEMENCE G.M.* The second part lies in atomic, sub-atomic and nuclear physics where spin is qua non of a complex behaviour involving atomic and nuclear 'gyroscopes', subject to periodic forces and manifesting itself inter alia in nuclear induction.** These subjects have today (1988) generated a large body of literature and I give below only the most important early authors such KIRCHNER. F. (1955) and WANGSNESS. R.K. and BLOCH. F. (1953). For an accurate discussion subject see CONDON E.U.+ part lies in the class Insecta of the animal kingdom in the Diptera, the true two-winged flies that exhibit more than eighty five thousand species. These animals form three sub-orders: 1. the Nematocera 2. the Brachycera-Orthorrhapha, 3. the Brachycera-Cyclorrhapha. The second sub-order escape from the pupa via a rectangular slot and the escape via a circular cap. The very tiny flies of the third order the family of the Pipunculidae are noted for their amazing flying techniques including precise hovering. All-species possess halteres, said to be reduced hind wings that vibrate and provide-balance and flight information by gyroscopic forces. Some entomologists would allow this gyroscopic refinement to exist in the Strepsiptera once considered-a part of the beetle family Meloidae, but now given separate order status. The animals of the Diptera and the Strepsiptera are the only known animals to possess gyroscopic aids to assist guidance in * CONDON E.U. ORBITAL-MOTION Handbook of Physics. McGraw Hill (1967) 2nd Edition pp. 2.28-2.32 CLEMENCE G.M. DYNAMICS OP THE SOLAR SYSTEM ** See N.M.R. nuclear magnetic resonance, discovered 1945. ABRAGAM. A and GOLDMAN. M. (1982). + CONDON E.U. QUANTUM MECHANICS AND ATOMICSTRUCTURES -Handbook of Physics, McGraw Hill (1967)-pp. CONDON E.U. ELECTRONIC STRUCTURE OF MOLECUL