Just a month ago I finished my mini balancing robot: http://blog.tkjelectronics.dk/2012/03/the-balancing-robot/And now I would like to build a full size one, but I need some help for some parts.
The only thing I have right now are the microcontroller (mbed - http://mbed.org/handbook/mbed-NXP-LPC1768), XBee modules (for wirelessly debugging) and a 6DOF IMU - which are all parts I also used for my mini segway. I will also use an Arduino ADK for communication with my Android phone.I also got some geared motors from an electric wheelchair, but I'm not sure if they would do the job - I would really like to know the opinion of some of the experts around hereThe specs for the motors are:Supply Voltage: 24VMaximum current: 3.9AWatt Output: 60WRPM: 90rpm (2000rpm without gearbox) - it's a 22 ratio gearboxTorque: 3.4NmThe full name of the motors are: "Parvalux REF PM 3MB/511592/2B2" - I have no idea what the numbers after 3MB means (3MB are the specific motors and gearbox).Here is the datasheet for the motors: http://blog.tkjelectronics.dk/wp-content/uploads/ParvaluxMotorSpecs.pdfThe main thing I am worried about is the rpm, as I am not sure if they are fast enough for a balancing robot, but I have seen a lot of people building full size balancing robots with wheelchair motors, so I think they are allright?
I also need a motorcontroller, 24V battery - maybe 36V to make it go faster, some pneumatic wheels (something like these: http://www.northerntool.com/images/product/images/1330_lg.jpg), and some wheel hubs for a key mount.
I would also need some quality cables, connectors, and some basic stuff like that, that can handle the current.
I am thinking about ordering everything from Robot Marketplace: http://www.robotmarketplace.com/store.htmlAnd I have already made a post on there forum, but no one has never answered me: http://www.robotmarketplace.com/forum/viewtopic.php?f=5&t=303&p=795
What size are we talking about? Do you want to ride this larger robot? Any requirements for runtime and terrain capabilities?
Yes I would like to build a rideable one. I think the runtime should be at least 30 minutes for it to be any fun. And it should be able to run on any hard surface - I don't think I will ride it in any terrain except maybe grass.
I haven't tried to simulate the robot yet, but I have done some basic calculations with a total mass of 90kg and a wheel radius of 8cm. You can see them in the attached pdf.
I haven't done any drawings of the robot yet, but I will try to do it and then - with your help hopefully - calculate the specs of the robot I won't do it this week, as I'm very bussy at school, but next week I will try to make a drawing and then do some calculations.
I think that 8inch diameter wheels are a bit to small, I was thinking about more like 15inch - maybe I will just use wheel tires. Or what do you think?
Right on, we can make some more assumptions using these specs. You can get a battery based on calculation using motor draw and runtime. DO that after you decide what motors will work for this project.
Calcs look good although I'm not sure where you got a couple of your constants. 8cm radius is a rather small wheel?
Whenever you're able. Honestly the easiest way to go about this is to make a simulaid out of wood and add weights to it. There's no substitution for real world experimentation.
PM me when you're not busy with school and we can work out the details. I'm interested in building a balance bot too - now is as good a time as any.
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