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Balancing scooter project


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#1 Chris Seto

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Posted 05 February 2011 - 05:49 PM

So, I have been thinking about doing a balancing scooter/robot project for a while now, and I thought I'd post here to see if anyone has any experience with these things. At least for right now, I don't want to carry people, but I do want something that can carry somewhere around 10-15lbs, since I figure that's a good weight for my laptop as well as some other stuff. Questions: * What motors to use? I'd like to stay as far away from brushed motors as I possibly can, and I'm not really sure stepper motors will work for this. If I use a hobby brushless setup, I need to then worry about cogging at low speeds. That sortof leaves my last choice as a hobby RC car sensored brushless setup. * What wheels to use? I'd kinda like it to be a bit rugged, be able to go over grass and such. * Weight distribution? It seems like I have seen two ideals on this, one where there is a lot of weight at the top of scooter and one where there is a lot of weight at the bottom. Any input on this? As for the base, I was just gonna made a flat platform out of PVC and mount the motors on that. I'd like to avoid gear/chain drivetrains as much as possible. as I have limited MechE resources (though I do have a CNC and full workshop occasionally provided by a friend), I'd like to keep the mechanical part of this as simple as possible. The control theory part is easy, no questions about that at all.

#2 Adam Clifford

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Posted 06 February 2011 - 08:24 AM

Hi Chris, Saw this and thought you might like http://stuffandymake...e-geared-motor/ Adam

#3 Chris Seto

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Posted 06 February 2011 - 05:56 PM

Yeah, I've seen stuff like that, but the issue with servos is that they're far to slow to make for a very stable balance.

#4 Quiche31

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Posted 06 February 2011 - 07:01 PM

Chris, are you aware of Chris Khrohne's ElektorWheelie project? It's pretty much an open-source Segway.

For starters, it uses two 500W/24V DC motors, PWM-driven via two MOFFSETs H-Bridges. But you have all required information, mechanics, electronics and firwmare, here. I known that this one carries more than what you'd like, but nevertheless could be a source of inspiration for you.

JP

#5 CW2

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Posted 06 February 2011 - 07:30 PM

Chris, are you aware of Chris Khrohne's ElektorWheelie project? It's pretty much an open-source Segway.

It looks similar to Trevor Blackwell's Balancing scooter, one of the best DIY segways I've seen. Regarding the weight distribution, I think I read a paper from a university class where students made various versions of scooters and control algorithms, including the analysis and simulation, and the former one (center of mass 'at the top' = inverted pendulum) was much better for control. Unfortunately, I cannot find it now...

#6 Giuliano

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Posted 23 May 2013 - 09:42 PM

Hi Chris,

 

Did you ever work in this project? How's is it going?

 

I always wanted to build my own, so I got the book below:

 


    [*]Arduino Robotics
    [*]

    By: John-David Warren; Josh Adams; Harald Molle

    [/list]

    Chapter 11. The Seg-Bot

     

    Now, this is a full size seg-way that you can build yourself for about $429.

     

    I need to order the motors and wheels, once I have them, I will finally start building it but instead of the Arduino I will be using an NGo of course.

     

    Do you want to join forces?






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