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

2. 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

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

4. 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

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

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

7.  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

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

9. Design Intro Design Requirements Design Testing Budget Conclusion 8

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

11. Design  Data Acquisition  Selected Analog Digital Converter  I2C 12-Bit, Analog-to-Digital Converter  Resolution: Device:10 Bit ADC12 Bit ADC Accelerometer ADXL203 0.18°0.070° Gyroscope ADXRS610 *assumes 100 Hz frequency 0.0081°0.0020° Image taken from: gravitech.us Intro Design Requirements Design Testing Budget Conclusion 10

12. 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

13. 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

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

15. 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

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

17. 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

18. 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

19. 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

20. 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

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

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

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

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

25. 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

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

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

28. J J. Stewart, 2011 30

29. 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

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

31. 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

32. 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$1470 34 Intro Design Requirements Design Testing Budget Conclusion

33. 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

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

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

36. Questions 37