PROJECT SYNOPSIS
Title: SELF BALANCING ROBOT
The Project Idea:
The project is about designing and fabrication of a self-balancing robot and
developing the circuits.
Technology behind the Project:
A gyroscope is a spinning wheel or disc in which the axis of rotation is free to
assume any orientation by itself. While rotating, the orientation of this axis is
unaffected by tilting or rotation of the mounting, according to the conservation
of angular momentum. Because of this, gyroscopes are useful for measuring or
maintaining orientation. Gyroscopes are also based on other operating
principles, such as the electronic, microchip-packaged MEMS gyroscopes found
in consumer electronics devices, solid-state ring lasers, fiber optic gyroscopes,
and the extremely sensitive quantum gyroscope. Applications of gyroscopes
include inertial navigation systems where magnetic compasses would not work
(as in the Hubble telescope) or would not be precise enough (as in
intercontinental ballistic missiles), or for the stabilization of flying vehicles like
radio-controlled helicopters or unmanned aerial vehicles, and recreational boats
and commercial ships. Due to their precision, gyroscopes are also used in gyro
theodolites to maintain direction in tunnel mining. Gyroscopes can be used to
construct gyrocompasses, which complement or replace magnetic compasses (in
ships, aircraft and spacecraft, vehicles in general), to assist in stability (Hubble
Space Telescope, bicycles, motorcycles, and ships) or be used as part of an
inertial guidance system.
A. Gyroscope Principles
Rigidity is the ability of a freely rotating mass to maintain its plane of spin
when any external force is applied to it.
1) First Law of Gyroscope: If a rotating wheel is so maintained as to be
free to move about any axis passing through its center of mass, its spin axis
will remain fixed in space.
2) Second Law Of Gyroscopes: When a torque acts on a spinning mass with
an axis perpendicular to that of spin, then the latter will precess about an
axis perpendicular to both aforementioned axes, at an angular velocity,
Ω, = T/Iω.
B. Gyroscopic Effect The gyroscopic effect is widely used in air planes and
ships, where in always external disturbing couple is acting on the vehicle.
Thus, for the stability of such vehicles it is essential to neutralize the effect
of external disturbing couple which can be done by applying equal and
opposite couple. Accordingly, to generate equal and opposite reactive
couple it is essential to vary the magnitude and direction of velocity of
precession. The active gyroscopic couple represents rate of change of
angular momentum, and this couple must be applied to disc across the axis
of spin to cause it to precess in the horizontal plane. When the axis of spin
precess itself or is made to precess the shaft on which the disc is mounted
applies reactive gyroscopic couple. This reactive gyroscopic couple thus
produced by the gyroscope is equal to the external disturbance but it is in
opposite direction. Thus this couple neutralizes the effect of disturbance and
stabilizes the object.
(Active couple) = - (Reactive couple)
Fig.1: 3-D model of the self-balancing mechanism on a two wheeler
What Problem Is The Idea Trying To Solve ?
Building balancing in two wheeler vehicle is mainly to ensure safety of the
rider.
The Team:
[Link] NAME OF STUDENT QUALIFICATION
1. Aashish Kumar [Link] Mechanical Engineering 4th year
2. Rashid Anwar [Link] Mechanical Engineering 4th year
3. Sagar Kumar [Link] Mechanical Engineering 4th year
4. [Link] iqubal [Link] Mechanical Engineering 4th year
5. [Link] akhtar [Link] Mechanical Engineering 4th year
6. [Link] khan [Link] Mechanical Engineering 4th year
The prototype was created using following parts:
1. Steel Frame
2. Steel Base
3. 12V DC Motor
4. Mild steel disc
5. Flat head stud
6. Rubber Wheels
7. Nuts and bolts (M3, M5)
8. Hub
9. Circlips
10. Ball bearings
WORKING
The model is powered by a power supply unit of 12V output. Once the motor
starts rotating, the Mild steel disc fitted on the motor shaft starts to rotate and
gradually gains speed. This rotation of the disc leads to the production of the
gyroscopic effect thus, when the wheels lose their balance due to the active
gyroscopic couple, a counter acting reactive gyroscopic couple is produced in
the opposite direction due to gyroscopic effect, thus stabilizing the prototype
model. This gyroscopic effect occurs on both left as well as right hand side.
Thus, due to rotation of the gyroscope, a counter-acting reactive gyroscopic
couple leads to the stabilization of the prototype. The motor and gimble axle
assembly is designed in such a way that it is top heavy. This means that the
center of gravity lies above the gimble axle. So the motor and gyroscope
assembly tries to attain the position such that the center of gravity of the core
will move downwards. But at the same time the motor and gimble assembly is
arranged within the frame having bearing reaction at ends. So, the only possible
way for motor to attain the stability is to either lean forward or backward. So,
when the motor is started the body is about to fall on both side and also the
motor assembly is leaning this causes the precession of spin axis. Due to this
precession, according to right hand rule the reactive gyroscopic couple acts on
the frame which nullifies the effect of the disturbing couple and thus stabilizes
the vehicle. After few rotations and oscillations of motor, the motor and frame
attains the stationary position and gyroscope is subjected to pure rolling motion
about the spin axis
APPLICATION
The above gyroscopic stabilization concept can be used in motor bikes for
advanced stability and safety and also in bicycles and other such vehicles for
safer transportation. The gyroscope assembly can be placed at specific locations
in the vehicle to get the stabilizing effect. In addition to being used in
compasses, aircrafts, computer pointing devices, missiles etc., gyroscopes have
been introduced into consumer electronics. Since the gyroscope allows the
calculation of orientation and rotation, designers have incorporated them into
modern technology. The integration of the gyroscope has allowed for more
accurate recognition of movement within a 3D space than the previous lone
accelerometer within a number of smartphones. Gyroscopes in consumer
electronics are frequently combined with accelerometers (acceleration sensors)
for more robust direction- and motion-sensing. Examples of such applications
include smartphones, game console peripherals, and virtual reality sets. Cruise
ships use gyroscopes to level motion-sensitive devices such as self-leveling pool
tables. An electric powered flywheel gyroscope inserted in a bicycle wheel is
being sold as a training wheel alternative