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 built and programmed. Video: https://www.youtube.com/watch?v=nen49qwPti8 The bot uses stepper motors, an accelerometer/gyro and a pid loop programmed in Arduino IDE for an AtMega328p. The bot can be controlled using a Bluetooth connection, I recommend 'Arduino Bluetooth RC Car' for Android (not tested with iPhone). The source code and build instructions are available at: https://github.com/christianp007/Balancing-Bot If you need more instructions, just leave a comment. The instructions to prepare the HC-05 module are currently missing, but you can probably find them on the internet. The code is structured this way because it was provided incomplete and had to be completed by teams. Additionally, it was my first Arduino project (I'm a Java programmer)... It was designed mostly in Fusion 360 and for the skin/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 has to be printed in a flexible material (I used Nijaflex), or you can print tires and wheels as one part in PLA.