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ECE.4180 Final Design

ECE.4180 Final Design. Two Wheeled Dynamically Balancing Robot. Jason Crim Vikas Kedigehalli Chinnappa Pattada. Existing designs. Our Design. Working Principle. Drive the robot wheels in the direction that the upper part of the robot is falling.

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ECE.4180 Final Design

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  1. ECE.4180Final Design Two Wheeled Dynamically Balancing Robot Jason Crim VikasKedigehalli ChinnappaPattada

  2. Existing designs

  3. Our Design

  4. Working Principle • Drive the robot wheels in the direction that the upper part of the robot is falling. • If the wheels are driven in such a way that they stay under the robot’s center of gravity , the robot remains balanced. • This requires two feedback sensors -> Tilt or angle sensor : To measure the tilt of the robot with respect to gravity -> Wheel Encoders: To measure the position of the base of the robot.

  5. System flowchart

  6. Initial Algorithm

  7. Modified Algorithm

  8. Practical Challenges Faced

  9. Components Low power, 3-axis accelerometer with high resolution (13-bit) measurement Triple-axis, digital output gyroscope ITG-3200 ADXL-345 Accelerometer Gyroscope

  10. Components 7.2V motor with 7.2Kg-cm of torque, 160 rpm no load speed, a 6mm drive shaft, and built in quadrature encoder Compact motor driver with current sensing and high PWM frequency (20 Khz) supplies current of upto 30A VNH2SP30 Motor Driver Carrier MD01B DC Gearhead Robot Motor Motor Driver DC Motor

  11. Components Microcontroller with ARM based Cortex-M3 core, running at 96MHz, with 512KB FLASH, 64KB RAM mbed NXP LPC1768 MBED

  12. Tasks and Schedule

  13. DEMO Video Demo

  14. Questions

  15. Thank YouECE4180 was Great Fun!!!

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