Abstract
Two objectives dominate consideration of control moment gyroscopes (CMGs) for spacecraft maneuvers: high torque (equivalently momentum) and singularity-free operations. This paper adds to the significant body of research towards these two goals utilizing a minimal 3-CMG array to provide 646% singularity-free momentum performance increase spherically, compared to the ubiquitous pyramid arrangement skewed at 54.73deg. Spherical 1H (1 CMGs-worth momentum) singularity free momentum is established with birectional 1H and 2H in the third direction in a baseline configuration. Lastly, momentum space reshaping is shown via mixed skew angles. These claims are demonstrated analytically, then heuristically, and finally validated experimentally
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