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Self-Balancing Robot Design Team #10 Team: Luc Malo, Renske Ruben, Gregory Ryan, Jeremy Stewart Supervisor: Professor Robert Bauer

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Table of Contents Problem Statement Design Requirements Main Design Balancing control Data acquisition Drive system Student interaction Chassis Testing Simulation Prototype Budget Conclusion Intro Design Requirements Design Testing Budget Conclusion 1

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Problem Statement Designing a visual aid for Systems I & II Intro Design Requirements Design Testing Budget Conclusion 2

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Design Requirements Balance 15 minutes without disturbance Suitable for demonstrative purposes Max size: 10 kg, dimensions: 120 mm x 400 mm x 600 mm Max balance area: 700 mm x 700 mm Durable Able to withstand 40 failures Easily implementable controls Accessible for repair Less than 3 minutes Max cost of $1500 Intro Design Requirements Design Testing Budget Conclusion 3

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Design Balancing control Data acquisition Drive system Student interaction Chassis Intro Design Requirements Design Testing Budget Conclusion 4

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Design Balancing Control Pivot Point Center of Gravity Intro Design Requirements Design Testing Budget Conclusion 5

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Data Acquisition Selected Sensors ADXL203 Accelerometer Range 1.7g Sensitivity 1000mV/g ADXRS610 Gyroscope Range 300 /s Sensitivity 6mV//s Why two sensors? Accelerometer noise Gyro drift Translational acceleration Design Inertial Measurement Unit (L. Malo, 2011) Intro Design Requirements Design Testing Budget Conclusion 6

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Time (s) Angle () Intro Design Requirements Design Testing Budget Conclusion 7

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Design Intro Design Requirements Design Testing Budget Conclusion 8

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Design Data Acquisition Two Solutions (2) Ideal placement Intro Design Requirements Design Testing Budget Conclusion 9

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Design Data Acquisition Selected Analog Digital Converter I2C 12-Bit, Analog-to-Digital Converter Resolution: Device:10 Bit ADC12 Bit ADC Accelerometer ADXL203 0.180.070 Gyroscope ADXRS610 *assumes 100 Hz frequency 0.00810.0020 Image taken from: gravitech.us Intro Design Requirements Design Testing Budget Conclusion 10

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Design Data Acquisition Selected Microprocessor Arduino Nano with Atmel ATmega328 ADC: 10 bit Advantages Low Cost Easy interface Large online community Image retrieved from: digikeys.com Intro Design Requirements Design Testing Budget Conclusion 11

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Design Drive System Selected Motor Pololu 12V DC motor 8 kg cm stall torque 5 Amp stall current Image taken from: robotshop.com Intro Design Requirements Design Testing Budget Conclusion 14

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Drive System Selected Battery 14.8 V Lithium Polymer 5000 mAh 35 C Advantages High Energy Density Rechargeable Long Lasting Design Intro Design Requirements Design Testing Budget Conclusion Image taken from: greathobbies.com 16

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Image taken from: xorcomputers.com Design Student interaction Adjustable PID control Potentiometer inputs Extracting data LCD Screen Bluetooth Intro Design Requirements Design Testing Budget Conclusion 17

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Design Chassis Design Maintenance Disassembly Shock Absorption System Design Material Selection Intro Design Requirements Design Testing Budget Conclusion 18

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Design Chassis Material Utility grade aluminum Light weight Durable Components Seven exterior plates Four interior brackets Interior rod and adjustable mass Manufacturing Bending and drilling Mass C.M Intro Design Requirements Design Testing Budget Conclusion 19

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Design Maintenance Disassembly Remove top plate Extract mass, rod and battery Disconnect battery Remove top rear bumpers Slide up and remove rear plate Intro Design Requirements Design Testing Budget Conclusion 20

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Design Shock Absorption Front plate Flanges Top plate Left Side plate Back plate Neoprene rubber Rubber Bumper Impact Force Intro Design Requirements Design Testing Budget Conclusion 21

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Design Material Selection Intro Design Requirements Design Testing Budget Conclusion Forces F = 42.466 N Modulus of Elasticity = 33.9728 KPa Shore Hardness 40 A 22

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Prototype & Simulation Intro Design Requirements Design Testing Budget Conclusion J. Stewart, 2011 23

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FxFx TmTm FgFg TmTm FfFf FxFx FyFy FgFg FyFy Simulation Intro Design Requirements Design Testing Budget Conclusion Free Body Diagram: R. Ruben, 2011 24

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Simulation Intro Design Requirements Design Testing Budget Conclusion Equations of Motion: 25

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Simulation Simplified Block Diagram: J. Stewart, 2011 26 Intro Design Requirements Design Testing Budget Conclusion

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Simulation Intro Design Requirements Design Testing Budget Conclusion 27 Current Features: Sample Time PID Controller Angle Calculation Resolution Angle Calculation Friction Rolling Resistance Pin Friction Saturate Controller Output Voltage Upcoming Features: Resolution PID Controller Motor Backlash Motor Deadband

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Prototype & Simulation Intro Design Requirements Design Testing Budget Conclusion Height (m) Distance (m) 28

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Prototype & Simulation Intro Design Requirements Design Testing Budget Conclusion Height (m) Distance (m) 29

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J J. Stewart, 2011 30

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Prototype & Simulation Intro Design Requirements Design Testing Budget Conclusion Accelerometer & Gyroscope 12 bit Analog to Digital Converter Arduino Duemilanove with ATmega328 Microprocessor Motor Power Supply 31

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Prototype & Simulation Intro Design Requirements Design Testing Budget Conclusion PID Control Tuning Motor Controller Bluetooth Wireless Communication Microcontroller Power Supply 32

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Prototype Cost ~ $350 Angle Resolution 0.07 Complimentary Filter Control Loop Frequency 62.5 Hz PID control Implemented Student interaction PID Tuning Gains Bluetooth Wireless Currently Stable in specific conditions 33 Intro Design Requirements Design Testing Budget Conclusion

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Budget ItemsCost Electronic devicessensors, controllers, bluetooth$450 Drive system Motors, battery, wheels, etc$320 Materials Aluminum and neoprene rubber$150 Electronics misc Potentiometers, usb cord, A2D$100 Hardware$100 Misc shipping, taxes, and 10% contingency$350 Technician time28hr Total$1470 34 Intro Design Requirements Design Testing Budget Conclusion

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Conclusion Design requirements proven: Balance Suitable for demonstrative purposes Durable Easily implementable controls Accessible for repair Max cost of $1500 35 Intro Design Requirements Design Testing Budget Conclusion

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Conclusion Accomplishments Working prototype Working Simulation Next steps Building Control design 35 Intro Design Requirements Design Testing Budget Conclusion

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Acknowledgements Dalhousie University Professor Bauer Professor Militzer Angus, Albert, Jon, Mark, and Morgan Shell 36 Intro Design Requirements Design Testing Budget Conclusion

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Questions 37