Ali Mozaffary - Department of Mechanics, Central Azad University, Tehran, Iran
Robab Shafaroudi - Department of Mathematics, Science and Research Azad University, Tehran, Iran

Manufacturing errors in a Gyroscope is inevitable and must be considered in design. It causes unsymmetrical moment of Inertia in rotor and gimbals.Misalignment in bearing is another manufacturing error. A real gyro with these errors has a drift in the direction. An asymmetric gyroscope is modelledin this paper. Totally ۱۵ degrees of freedom in manufacturing error considered. ۹ components of Euler equations for a rigid body, for three dynamicalvariables and their first and second derivatives plus ۶ torques formulated and numerically solved for ۱۰ variations of error settings. Energy of system isconsidered as error signal in numerical procedure. Drift of line of sight of the rotor is considered as an indication of performance of Gyro. The inertia ofthe outer gimbal and the inner gimbal are not assumed to be symmetrical and there are slight deviations in them. The manufacturing error in rotor isassumed to be small in terms of inertia, but, its axis of rotation does not aligned to any of the major axes of inertia so the reality considered .The equationsare nonlinear and solved by numerical method.

Gyroscope, unsymmetrical, misaligned gimbals, drift, line of sight, asymmetric