Self balancing Robot

cults3d

I designed and made this robot for a university course on Mechatronic engineering design. The design roughly attempts to maximise/minimise some key performance criteria to assist in self balancing, namely minimise total mass and minimise the mass moment of inertia about the chassis centre of mass (COM) and the wheels COM. I used GoBuilda yellow jacket DC motors, but you can use whatever you want. In any case, you should try to select a motor with a high gear ratio and use the smallest possible wheels you can get away with, as this will make balancing even easier.