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Self-Balancing 2 Wheeled Robot
Since build/official competitions are over I've been working on making my own robot. Currently, the frame is done (I'll try to post pictures later, for a CAD model see bottom of the post) and I'm looking at what electronic parts I should buy. Here's my current list:
Microcontroller $85.95 6 AA Battery Holder $0.75 Solarbotics GM8 Gearmotor (2x) $12.00 Solarbotics Plastic Wheel (2x) $8.00 Shipping: $4.95 12" PWM Cables (2x) $18.94 What I need is a gyroscope, although of all the researching I've done of balancing robots people have used both gyroscopes and accelerometers. Will just a gyroscope be sufficient? Does anyone know a good/cheap gyroscope/accelerometer that I would need? Thanks in advance. CAD Model: *Note: Those aren't the motors I'm using, and it's wood... not metal.* ![]() EDIT: Whoops, this was supposed to go in Technical Discussion, any mod feel free to move it. :o |
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Hmm, I think this is a quite a task to take on, You are basically reproducing a segway and Im pretty sure Human Like movement based on balance is not an easy thing to pull off both programming-wize and mechanical wize. Its going to take a lot of effort to pull it off.
On the hardware side: Ive seen balancing done with distance sensors as well though. Where they point at the ground and measure the distance difference between the 2 sides and make movement decisions based on that. And, I dont know much about the speed of the microcontroller that you need to accomplish this feat but I imagine that it needs to be pretty fast and update often. Sorry I couldnt be more help, but good luck! and I hope to see it working :) |
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I once tried my hand at a fullsize one with a Parallax BS2 and a Memsic Accelerometer (that parallax sells) but never really got too far with it. I'm not a programmer but even I I was, I'm not sure if the electronics and hardware are capable of balancing.
You may find some useful info at www.tlb.org |
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I think you may find this site very informative: http://www.geology.smu.edu/~dpa-www/robo/nbot/ Also, people have built a "Legway" balancing robot using Lego Mindstorms: http://www.generation5.org/content/2004/legway.asp |
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I've got a gyro you can have, I got a few from the yardsale last year and I only really need one. It's the gyro that was in the kit from previous years. All I ask is that you pay shipping.
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-Kevin |
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Wow, didn't realize it'd be this expensive/complicated.
I'm gonna think about maybe a lower cost/simpler alternative to a gyro, maybe a feeler attached to a pot? If you have any suggestions feel free to post =) EDIT: Or anyone know how I can build something similar to http://www.sparkfun.com/shop/index.p...s=ACL-IMU-203& for cheaper? |
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As far as something simplier/cheaper, I've seen people attempt the same design using two IR distance sensors on each side. |
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There's also a problem with the pendulum idea. If I am making constant adjustments to control the angle, then the pendulum will start swinging. The swinging will cause harder adjustments, which will just feed this repetition harder until the robot tips. I'm thinking of something along the classic pendulum lines, I'll try to make up a CAD drawing and post it later. |
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The way I'm thinking of designing a pendulum is for it to be less of a circular motion of swinging and more of a linear one. Think of a box with beads in it, when it's tilted the beads fall to one end of the box instead of swinging like a classic pendulum would. Of course, I wouldn't use beads. |
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