Mini Balancing Robot

thingiverse

This is my version of a small self-balancing robot. A have tried to keep the design as simple and cheap as possible, without compromising performance. The robot uses two NEMA14 stepper motors and the electronics consists of a single Arduino Pro Micro and a MPU-6050 gyro/accelerometer breakout board. Two A4988 stepper drivers (now replaced by TMC2100) are used to drive the motors. The mechanical construction of the entire robot is made up of several 3D printed parts that are screwed together with M3 screws, this makes it fast and easy to assemble. Only 3D printed parts are available here on Thingiverse. Some parts need to be rotated before printing. This can easily be done in any slice software. Arduino code and schematics are available on my website: http://axelsdiy.brinkeby.se/?page_id=1447 ** Update 2017-12-30 ** Added a new mounting bracket for two Sharp IR sensors. ** Update 2018-01-01 ** Obstacle avoidance code is now available on my website. The robot goes slowly forward and tries to steer away from obstacles using its two IR rangefinder sensors. Video1: https://youtu.be/nT1FqvNbThU Video2: https://youtu.be/egfLymeuGhg Video3: https://youtu.be/dw_tNiF5xEw