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

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

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

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

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

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

 Data Acquisition  Selected Sensors  ADXL203 Accelerometer  Range ±1.7g  Sensitivity 1000mV/g  ADXRS610 Gyroscope  Range ± 300 º/s  Sensitivity 6mV/º/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

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

Design Intro Design Requirements Design Testing Budget Conclusion 8

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

Design  Data Acquisition  Selected Analog Digital Converter  I2C 12-Bit, Analog-to-Digital Converter  Resolution: Device:10 Bit ADC12 Bit ADC Accelerometer ADXL °0.070° Gyroscope ADXRS610 *assumes 100 Hz frequency °0.0020° Image taken from: gravitech.us Intro Design Requirements Design Testing Budget Conclusion 10

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

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

 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

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

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

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

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

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

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

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

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

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

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

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

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

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

J J. Stewart,

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

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

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

Budget ItemsCost Electronic devices–sensors, 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$350 Technician time28hr Total$ Intro Design Requirements Design Testing Budget Conclusion

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

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

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

Questions 37