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Dynamic Balance: This Is A Dynamically Balanced Vehicle Which Is Fairly Easy To Make

This document discusses the design and components of a dynamically balanced vehicle that can self-balance using a motor, gearbox, wheel, and sensors. The key components are a high-impedance motor with an epicyclic gearbox to maximize torque from a small wheel. One-wheel drive is important for balancing, with the undriven wheel providing sideways balance. An artificial horizon and photo-electric sensor detect tilts and direct the motor accordingly to maintain balance. Precise control of the motor reversal is important for balancing. The overall design aims to balance using coarse adjustments of an artificial horizon and fine adjustments of a lateral balance arm.

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Veera Vinod
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73 views7 pages

Dynamic Balance: This Is A Dynamically Balanced Vehicle Which Is Fairly Easy To Make

This document discusses the design and components of a dynamically balanced vehicle that can self-balance using a motor, gearbox, wheel, and sensors. The key components are a high-impedance motor with an epicyclic gearbox to maximize torque from a small wheel. One-wheel drive is important for balancing, with the undriven wheel providing sideways balance. An artificial horizon and photo-electric sensor detect tilts and direct the motor accordingly to maintain balance. Precise control of the motor reversal is important for balancing. The overall design aims to balance using coarse adjustments of an artificial horizon and fine adjustments of a lateral balance arm.

Uploaded by

Veera Vinod
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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http://durealeyes.com/balance.

html
dynamic balance
This is a dynamically balanced vehicle which is fairly easy to make
The only really exotic component is the motor/gearbox: it is a high impedance
motor with a 62:1 epicyclic gearbox and cost £7. A cheaper option is to use a
mabuchi solar motor without any gearbox at all, a walkman motor would also
probably work although I haven't tried it. Use a wheel just slightly bigger than the
motor body to maximise torque. One-wheel drive is important because the
correcting force must be applied at the end of the dowel. If you use two wheel
drive the sideways wobble of the mast puts all the weight on one wheel or the other
and the vehicle spins about the axis of the mast. The undriven wheel provides
sideways balance, like an outrigger, without exerting any steering force.
It will work without the sail and I have used up to 4ft of dowel successfully; the
sail seems to increase the thinking time by a factor of about five, if you're going to
write exotic control programs thinking time becomes an issue.
The artificial horizon is a piece of card half black half white bolted to another piece
which rests on the ground like a skid, it is free to pivot round the axle with very
little friction. Small adjustments can be made by rotating the black/white card.
The photo-electric eye is made of a toshiba high-brightness LED and a 5mm high
impedance LDR looking at the spot of light created by the LED and sensing the
change from white to black. This reverses the motor somehow, either with a relay
or with a driver IC. The switching point should be as precise as possible, in
practice this means either using an op-amp or a pc printer port. The advantage of
using a computer is that you can program in precise time delays to quantify the
effect of any design changes and there is a lot of scope for moving on to more
ambitious control methods.
You can put the batteries on the vehicle, the weight stops the wheel slipping. I have
even put them at the top of the mast but this makes it work less well.
This is a movie of one without a mast, it has a lateral balance arm to provide fine
adjustment. Coarse adjustment with the artificial horizon, fine adjustment with the
balance arm.
This is an example of a motor driver IC.

It cost about £3-50, it is a bit more difficult to use than a relay but works better in
this application. It has two pairs of outputs which I have joined together in parallel.
The current through them is controlled by pins 1 and 15 which I have shown
connected straight to the minus, to slow one or either of the inputs down put a
resistor between these pins and minus, about 5 ohms, the more the resistance the
less the current from the output.
This is an op-amp circuit that works quite well just using 4 AA batteries
link to eveything there is to know on this subject
making one around a 'propellor' IC (eight microcontrollers on one cheap
component)
you tube movie of one that balances laterally as well
carnegie mellon ballbot
innovation versus vested interest
monowheels
liked the photo but didn't understand anything else
back to main site
my email is davidvwilliamson@hotmail.com

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