Dear sir, I am a Mechatronics student doing my final year project similar to that of yours. I was doing my calculation on torque of motors but I am stuck. I would be really grateful if you could kindly guide me in choosing the right motors(rpm and torque) and flywheel specifications.
Awaiting positive reply and thanking you in advance.
I wanna know if your motor has gear box? Now my system has a DC motor with gearbox which has ratio 1:50,and no load speed is 100rpm... not very fast...
My inertia wheel is just a fan with diameter 80cm, and has some mass on the edge. Total weight near 2 kilometer, is it too heavy?
And did you use accelermeter or gyro? I use accelermeter to mesure degree error and gyro to mesure angular speed.
From jvpommeren's 3D unibot. He said he only use gyro.
No, it's not , it counteracts the gravity by accelerating in both directions and providing a torque to the main body. A mechanical gyro would rotate at constant speed and never stop, but it would be useless for this balance.
I think a second wheel for back/forth balancing would be a good idee for one improvment. It will spare the monocycle from going forth and back just to mentain the equilibrum. Thus the monocycle could actually fallow some paths without making stops on the way or going back for a few inches in order to reach the equilibrum state.
Great project. I especially like the mesmerizing encoder stripes..Functional yet decorative.
Are you using brushless motors?
Do you just have a friction drive on the outer edge of the inertial wheel?
Have you got some technical details posted anywhere yet.?
You might have inspired me to convert my Vex bbot (search Vamfun on youtube) to a unibot... It would be challengling with the vex motors and I am already nearly at the vex processor memory limit.
For a future prototype do you think a second motor could be on the opposite side, taking the place of the battery pack acting as a counterweight?
The inertia wheel is interesting and I wonder if there are other approaches you considered for doing this in a step by step fashion. Am I right that even though for the most part the inertia wheel spins in one direction, the act of it slowing down a bit (or later speeding up) all while in the same direction is enough of a change to tweak the balance?
Could you use a pendulum instead of a wheel?
TedRobotBuilder 4 months ago
cool
zoomoneone 4 months ago
This has been flagged as spam show
Dear sir, I am a Mechatronics student doing my final year project similar to that of yours. I was doing my calculation on torque of motors but I am stuck. I would be really grateful if you could kindly guide me in choosing the right motors(rpm and torque) and flywheel specifications.
Awaiting positive reply and thanking you in advance.
Best regards,
Yashveen Khoody
ykhoody2601@hotmail.com
Mauritius
ykhoody 5 months ago
Comment removed
ykhoody 5 months ago
Your work is great!
May I ask some question?
I wanna know if your motor has gear box? Now my system has a DC motor with gearbox which has ratio 1:50,and no load speed is 100rpm... not very fast...
My inertia wheel is just a fan with diameter 80cm, and has some mass on the edge. Total weight near 2 kilometer, is it too heavy?
And did you use accelermeter or gyro? I use accelermeter to mesure degree error and gyro to mesure angular speed.
From jvpommeren's 3D unibot. He said he only use gyro.
suchakindman 1 year ago
@suchakindman
Yes, I use accelerometer and gyro. My gearbox for the inertia wheel is only 1:6 but my wheel is smaller than yours (300 mm diameter).
DANVELVILL 1 year ago
Amazing!
Great work.
TXcodeDesigner 1 year ago
hello mr. DANVELVILL, i would like to know what are the parts you used on this machine, i am amused on how the unicycle operates...
pogicwen 1 year ago
No, it's not , it counteracts the gravity by accelerating in both directions and providing a torque to the main body. A mechanical gyro would rotate at constant speed and never stop, but it would be useless for this balance.
DANVELVILL 1 year ago
Is your record acting like a Mechanical gyro?.
basimpsn 1 year ago
I think a second wheel for back/forth balancing would be a good idee for one improvment. It will spare the monocycle from going forth and back just to mentain the equilibrum. Thus the monocycle could actually fallow some paths without making stops on the way or going back for a few inches in order to reach the equilibrum state.
Greetings.
barbuceanu2005 2 years ago
Great project. I especially like the mesmerizing encoder stripes..Functional yet decorative.
Are you using brushless motors?
Do you just have a friction drive on the outer edge of the inertial wheel?
Have you got some technical details posted anywhere yet.?
You might have inspired me to convert my Vex bbot (search Vamfun on youtube) to a unibot... It would be challengling with the vex motors and I am already nearly at the vex processor memory limit.
vamfun 3 years ago
Thanks for your comments.
the motors are standard brushed dc motors.
Yes, I use friction drive for the wheel that gives me 25:1 ratio.
If I have time some day I'd like to start a web page discussing unicycle robots but not for the moment.
DANVELVILL 3 years ago
For a future prototype do you think a second motor could be on the opposite side, taking the place of the battery pack acting as a counterweight?
The inertia wheel is interesting and I wonder if there are other approaches you considered for doing this in a step by step fashion. Am I right that even though for the most part the inertia wheel spins in one direction, the act of it slowing down a bit (or later speeding up) all while in the same direction is enough of a change to tweak the balance?
lvecsey 3 years ago
A second motor would make it look nicely symetric but it's not needed.
And yes, you're right; there's no need to change direction, you can just speed up and slow down and keep it balanced.
DANVELVILL 3 years ago