Balancing Bot

thingiverse

Just another balancing robot... but with hair! :-) Disclaimer: This is not an advertisement, however this project was done for a company event. Loewenfels Partner AG is a software development company in Lucerne Switzerland and one of their employee events usually features some kind of technical project to be build and programmed. Video: https://www.youtube.com/watch?v=nen49qwPti8 The bot is using stepper motors, an accelerometer/gyro and a pid loop programmed in Arduino IDE for an AtMega328p. The bot can be controlled using a Blootooth, i recommend 'Arduino Bluetooth RC Car' for Android (not tested with IPhone). The source code and build instructions (german language only at the moment) can are there: https://github.com/christianp007/Balancing-Bot If you need more instructions just leave a comment :-) The instructions to prepare the HC-05 module is currently missing, but you probably can find instructions on the internet. The code is structured this way it is as it was provided incomplete and had to be completed by the teams. Additionally it was my first arduino project (i'm a java programmer)... It was designed mostly in Fusion 360 and for the skind/hairs OpenSCAD. Fusion 360 couldn't handle the thousands of hairs, however rendering in openscad can take a few hours. Bill of materials (BOM): - 3x stepper motor 14HS11-1004S (Nema 14 35x25x28mm with low inductance) - 3x stepper driver DRV8834 (this is a low voltage driver that works with 5V) - 1x Powerbank 'Powerad Slim 2' - 1x Bread Board 830 point - 1x Microcontroller ATMega328P-PU (preferably with Arduino Bootloader installed) - 1x HC-05 Bluetooth module - 1x Gyro MPU-9250 - 1x 5V Speaker - 1x Micro USB adapter - 1x capacitor 220uF - 4x capacitor 100uF - 1x capacitor 10uF - 2x capacitor 10pF - 4x resistor 1 kOhm - 4x resistor 10 kOhm - 1x Pushbutton - 1x crystal 16 MHz - (optional) Bluetooth Stick for your computer (upload Arduino sketches directly from arduino ide) - some breadboard wires or cut and strip wires yourself Print Time: About 24 hours I used an Kossel XL and a 0.25mm nozzle Material: PLA The tire have to be printed in a flexible material (i used Nijaflex), or you can print tires and wheels as one part in PLA.