Gyroscope Stabilised Monowheel
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- Опубликовано: 2 окт 2024
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It's version 2 of my Monowheel, and this time I decided to try stabilising it with physical spinning gyroscopes so it can stand still while stationary. Some other unexpected things happened though.
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XROBOTS
Former toy designer, current RUclips maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
Very inspiring. I still cannot understand, how you can make so many videos with such high quality robot builds. Impressive!
Yo nice seeing you here man! Love your vids
Heyyyy 🤘
with a fast 3d printer and even faster brain 😍
hello, you are both great scientists!kisses
He must be putting in about 12 hour days. It takes me all day just to figure out the bugs in my code haha
There's only one thing left to do....a no wheel balancing robot. Great skills though and best wishes >1M subscribers
And then a no robot balancing robot, so two things.
@@4LXK 😄 I reckon I could build one of them
Hold on, first try 0.5 wheels before we dive in xD
I would love a pogo-stick type platform that could carry a person. It can handle stairs and irregular terrain, so an alternative to a wheel chair or stroller.
@@JohnDlugosz Build a huge robo dog
this is why spacecraft that use control moment gyros for stabilization always have some other way of holding attitude. if the spacecraft is subject to some unbalanced torque (from radiation pressure, magnetic fields, etc) the CMGs will move as far as they can go and become saturated. to unsaturate them, they're moved back to the neutral position and the spacecraft's thrusters are used to counteract the resulting torque. the term for this is momentum dumping. the robot crashes because it has no way of doing this. being tilted over results in a constant torque which will quickly begin to saturate the gyros, so that they will be moved very far in one direction even when the robot returns to vertical. unless you plan on doing the exact same amount of left turns as right, this concept fundamentally cannot work. now, this *does* give me the idea of creating some kind of robot that uses CMGs for most of its control, but has compressed air jets for momentum dumping.
The robot could unsaturate the reaction wheels by leaning a small amount the opposite way and letting gravity unsaturate the wheels (I think, not entirely sure). But yeah, it has to be done standing still if you don't want to turn.
So, a robot with corrective farts? Sign me up!
@@diegodoumecq5144 ... #JustAddThruster
@@huvudpersson7344 pretty sure this will work. You just need a bit gyro power left to flip the leaning side and let it hover there until desaturated. would be fun to implement this in the stabilize algorithm and correct its saturation levels as it goes.
To solve the forward backward leaning problem of the gyro add them to a slide that corrects its position back to center. Could even be used to help control steering. I would love to work on the algorithms doing all that in parallel. Must be fun to watch afterwards doing its things to balance.
How do boats do momemtum dumping?
Wheels within wheels ...
Perfect example of how adding two mechanisms you have experience with can lead to completely new and interesting problems
I'm very impressed, even if the result itself isn't performing too well. There is so much to learn from your designs.
You could either make sure the whole inside of the robot stays upright (and use a separate weight for leaning), or put the control-moment-gyros on a gimbal (or even two gimbals) so they can stay upright while the rest of the robot leans. Also maybe make a case for the gyro so you don't accidentally touch it and lose skin when it's spinning fast :P
Some considerations from personal experience in prototyping similar stuff:
1. use large hex core patterns for the gear sectors. Generally speaking, if you can get a 8 mm hex to a 2 cm wide part, you're set with a great ratio on a normal wall thickness. I've wall hangers that are built that way and they can soak up to 15kgs despite being very thin in section (no machine figuring involved, all hand laid lattice).
2. Instead of making recesses with small bits to joint the sections, which will weaken the whole structure, make another exterior ring that has overlapping segments (like brickwork). The equal sections will make for great structure. If you print this outer ring in two sections, so a middle wall (which was the base of the print) is shared, the structure jumps in structure even more.
-that outer ring, give it a ridge that's dovetailed to capture the TPU tire, which you can then print in a spiral, one piece, and slide over the dovetail. The tire would be in two pieces, so you can print the dovetail halves properly, then glued using Loctite's black rubber glue (pliable, but extremely strong, strong enough to glue a tire to a rim, on a car, permanently). You will not need any kind of screw for this, it can be build as a slot setup, which is far better than screws, which require you make a structure in structure when printing, to give you a strong boss.
3. Finally, if a gear sticks, it's because the tolerances aren't right from the print, and rather than printing another piece, just print yourself a master tooth, that's one sandpaper thickness smaller than the actual tooth valley you're trying to sand away. Then a little bit of elbow grease will yield perfect gear teeth. If you have an oscillating type dremel, the kind usually used to sand seam lines in model making, you can screw this tooth + sand paper to the bit, and sand that way.
-adding superglue with a brush before hand, will give you extremely strong and smooth teeth. Less rolling resistance, less noise (which itself is a loss), and generally speaking, smoother operation.
can you explain the hex core pattern for gear sector?
@@benkaye5014 Sorry for late reply. Instead of letting the slicer fill your piece (depending on how much material you want to print) you take hexagons and place them in a grid leaving a bit more meat, like say for a part that's the size of a cup, you put 1 mm thickness walls. You make this lattice much larger than the part you want, then you place it so that the hexagon tubes formed by it are placed parallel to the direction you want the least deformation.
Here's the crucial part. Every hexagon that's not full, you have to fill out, which a slicer will not.
Learnt this from a guy in a prop making forum. Makes extremely strong components.
13:03 did you see Veritasium’s recent video about steering? I wonder if you need to apply the same principle. In his video he shows how a bicycle has to steer the WRONG way first (just a little bit and very quickly) before steering the RIGHT way. It’s fascinating and might be helpful!
I was just going to say the same thing.
Nice connection, although it doesn’t really apply here since you reverse steer to get the bike tilted in the direction you want to steer, and here you use the gyro to control the tilt. Imagine if you added a gyro to a bike, then you would never need to reverse steer since the gyro takes the role away from the front wheel. Actually you wouldn’t need to steer the front wheel at all but I imagine that would be a very difficult bike to ride.
You are right about the gyros, assuming they interface with the bodies containing them with torque around every axis.
This is however not the case since the gyros here spin in the "same" plane as the wheels. They regulate pitch in that manor only.
It is only when you offset the planes the gyros rotate in that the resulting forces are exerted push side to side.
In the bike case the force is applied below the center of mass causing the bike to tilt towards the direction you want to turn. (The bike rides out from under you initially)
If this force is applied below the center of mass it is likely similar to the bike but less severe.
Take note that the two monowheels regulate pitch differently because of their location with respect to the center of mass. This supports the idea that it is indeed what vertasium describes.
@@molomono9481
>This is however not the case since the gyros here spin the the “same” plane as the wheels.
The way the gyro is used doesn’t matter in my explanation, as a reaction wheel or control moment, as long as it controls the tilt left and right.
>If this force is applied below the center of mass it is likely similar to the bike but less severe.
For gyros their position relative to the center of mass doesn’t matter, just the orientation, which is counter intuitive. Although you are right that the unwanted steering is somewhat related to the center of mass.
It tries to steer the wrong way because the wheel is pitching down while turning (center of mass at top), which tilts the roll axis downward so when the gyro tries rolling right (to offset gravity when turning left) it spins the wheel to the right at the same time.
If the wheel was pitching up to drive forward (center of mass on bottom), however, then the reverse would happen and the axis tilt would actually help with the turn.
So the center of mass affects which way the wheel pitches to go forward, which affects how the roll axis is tilted, which affects turning.
@@corporalwill123 haha yeah we agree on the steering but are focussing on different interfaces of force in the system to explain it. Would be interesting to play with both variables and study what is really going on
Its weird though since you would expect that the gyro exerting force normal to the center of mass in xy plane would be simple since it is removing non-linearity but it is actually near a bifurcating region making linearized control have non unique control solutions.
In other words, PID wont work well
It amazes me how easy you make all this look, knowing it's anything but.
Gyroscopic forces are fun! In motorcycle racing you are taught to push on the right handlebar if you want to lean and turn right. I thought the instructor was nuts, but it works! When your project fell over, all I could think was... "Nooo! Not the nice shiny floor!" lol Wonder if you could create an inner carriage, to mount the gyro's, that is independent of everything else. Then the drive carriage could have the drive motor, gearing, controls, etc. A lot of parts, but would help with the gyro axis changing problem.
Steering is a true conundrum!
Motorcycle racers know the secret.
There's a great vid by the Veritasium channel called 'Most People Dont Know How Bikes Work' that explains this phenomenon.
I hope you build this into your monowheel.
In an attempt to make a 1 wheeled machine, we've ended up with a 3 wheeled machine
You need a slower PID that takes the gyro position as input and changes the left right angle setpoint as it's output. That way it will lean itself left and right automatically to keep the gyros from hitting their end stops.
Also the dampening of the pid is to weak for the side to side stabilization.. it oscillates quit heavily 😅
Actually PID is not a good control strategy. The force vector being so close to the center of mass causes a bifurcation in the systems phase portrait. The system is not guaranteed to have unique control solutions.
So the PID assumes solution uniqueness, i doubt PID is sufficient. lowering the center of mass more will make the pid work better
I was just waiting for a finger to get torn off and go flying across the room when you were trying to catch that thing. Cool robot though.
Look up how you steer a motorbike and that will help with the concept of the wheel leaning left but going right. :) it’s called counter steering I believe.
James Bruton DUDE!!!!!! Do you know about Electric UniCycles (EUC)? You need to. Currently the EUC market is flooded with monowheels that only have 180 degrees of self balancing: the wheel self balances from front to back (like a Segway). What’s missing is side to side. Current riders have to control and maintain side to side balance. But if the EUC world had a full 360 degree Gyro Wheel, that would be a huge game changer. Reach out to companies like Inmotion or Begode with your ideas and knowledge. We need this in the Electric UniCycle community…NOW. Great work. Keep it up!
It's this: ruclips.net/video/lS_yyy0gmUQ/видео.html
If you have to start over again you should make the outer ring fit a bicycle tire.
i understood everything up to "a few weeks ago i built a monowheel"
Nice work - a good example for engineering and find a solution! Like it.
Hey James i have fell of you're videos fore a couple of years.
you remember you're first big project. BB-8 v1.
This is wat wanted to do when you struggled with balance. 😁.
Lowe you're awesome engineering i want to learn to do stuf like you.
congrats on getting a bearing sponsor! try not to bankrupt them.
Seems like you should be able to use the turning angle to alter the gyroscope's center point so that when you "steer" it knows that the center of your angle is meant to be offset from your true vertical center. However, if you use the boat analogy, you should also be able to tilt your gyroscope physically if you place it on a horizontal rig.
instead of changing the pressure angle on the spur gear, try increasing the backlash that way you have a wider area of contact to reduce wear on the gear while still having some extra space for flex in the gear
Next stage, building a robot with gyroscopic procession in an inner circle that counter rotate the outer circle to keep it straight
Great video! Maybe try a wider wheel. Happy printing!
"Here is a cool idea I am going to explore today... Cue the " printing montage!"
Add a third gyro that spins in the horizontal plane. I'm not sure where you could squeeze that in, though. Maybe adding a second axis of tilt to the two existing gyros would also work?
13:03 ... i think it is called Counter Steering | The interesting physics behind it from Lesics chan ;)
Look up counter steering on motorcycles. Simply put, the term 'countersteering' refers to the principle (governed by the laws of physics!) that to turn a moving motorcycle in a given direction, the rider must turn the handlebar in the opposite direction of the turn. Sounds exactly like the phenomenon you're experiencing turning your mono wheel.
I think the biggest fallacy in peoples' design of Monocycles is they remain centered on the drivetrain.
Star Wars had an interesting approach to it with General Grievous' legged bike. Where you basically take the engine from the bike and shove it in the sidecar, so you're sitting on one side of the wheel, but can still see _under_ the inside of the rim and out the other side.
It's also safer, since you can add a counterweight system so if it loses balance, you can knock it on the side that DOESN'T have the driver. And even if it falls on the side of the driver, rollbar edges and the clearance in between the drive ring and the outer rung ensure their helmet isn't hitting too much metal and pinning the driver down.
Perhaps if it's possible to do just that; take the seat of the bike and shift it to the side, so you can make the engine and gyroscopic system as it needs to be. Just keep enough out of the center so you can see over the engine and under the wheel, and wear a helmet.
As if Mr Bean bolted the sofa to the side of his car, instead of tying it to the roof.
/watch?v=LVSLLWXdKV0
maybe dynamic gyroscope "direction" as a sensor realizes it in a 25 degree angle, for example, and would offset the gyroscopic correction, at that angle
Steering may be more difficult to achieve by leaning than just adding a horizontal reaction wheel to twist the wheel at its contact point.
It's weirdly ironic that all of your projects are made up of tons of fiddly modules instead of a single custom PCB and the sponsor of the video is a company everyone uses for custom PCBs..
This really is very impressive James!
Try the gyros and XYZ axis so that way it will control left and right side to side top to bottom then you should be able to have a perfect steer and balance and control a total of six gyros 🤜🏾🤛🏿
Junkrat mains boutta pop ult irl
Random project idea: make Gizmoduck from the show “Ducktales.” I loved that cartoon as a kid and ever since I discovered your channel and the possibilities of 3D printed self-balancing robots I’ve want to see a real robot duck riding around on a single wheel. As always thanks for your great content.
You're explanation for going round the corner is in fact an old problem that every human solved by feeling. You do it differently than you would expect! If you want to go to the right you will steer left at first! By doing so, you "fall" in the right direction and catching yourself from falling over. You're code should implement this and everything will work fine. There is an old experiment where they try to run a motorcycle by a robot, what ever they could think of it could only run in a straight line. Finally they measured a human driving the same motorcycle and found the slight movement in the wrong direction. It is also known as counter steering.
Congratulations 🎉🎈🎊🍾 1 million subs
I was waiting for this …you deserve
مبارك المليون
What if the gyros had their own bering assembly so the robot can rotate around them when driving forward and the gyros can stay perpendicular to the ground.
Wow - this is very complex to try it with the side-to-side balancing Gyro deflection axis' constrained to match the forward-back balance axis which, also is even further constrained to the forward-back drive force angle by virtue of balance-bots only having a single forward-back movement "joint".
I'm not smart enough to visualize how those PIDs would work together as a whole but, intuitively, it doesn't seem possible without decoupling at least one of those tied axis... It would be mechanically more complex to nest that Gyro unit inside an internally balancing ring to isolate the Gyro's vertical axis' but doing so would be dramatically simpler from a systems integration point-of-view since you could then initially work on tuning the bank and pitch PIDs separately.
If you also add an internally isolated Yaw Gyro pair, then you could steer it without roll/bank coordinated turns. Not likely your end goal. but once it can keep functioning and has a means of brute-force stumble recovery then there is the option of handing it off to a ML project to teach itself to coordinate the axis' and roll efficiently.
Super Fun Project and thought exercise!
Thanks for doing all the hard work!
That was AWSOME
When you tried the leaning steering, it behave like a bike. A bike must be first be countersterd to initiate a leaning and then steered as required. Maybe there is a similar thing for this?
Add 4 "training wheels." 2 on each side, attached bilaterally to the base under the gyros. These wheels should be set to engage the ground in 2 spots, front and back, at an angles sufficient to prevent the wheel from tipping over during a turn, which you can adjust the controls to take advantage of the added friction for facilitating better turning. Would doing this mean that it's no longer a mono wheel? Idk and idc. The point is that you might end up with a useable product.
I think I preferred version 1 to this one.
I would love to do some codingwork/embeddeddesign sparring :) some things like i2c to serial to another ardu will get you so much latency you can never filter some of the oscillations out. :)
👌🏻always ready for the next one😜
This might be kind of dumb, but if you did not have the gyroscopes geared and you had them both on encoder motors instead and made one basically a slave to the other would that help more in stability or just create more imbalance? I have seen at least the last 2 monowheel videos, but not that. Using 1 large one and another smaller such that you can keep them both inline with the wheel. Make the large one the slave as it could be quick to correct due to its larger inertial mass
I think tire shape might be a sneakily important factor. A flat-bottomed tire might seem easier to stabilize when the wheel is stationary and near vertical, but once you tip over the edge, the gyros are bound to struggle at correcting the sudden change in forces. Plus, when the wheel is moving, it's gonna be hard to make minor steering adjustments (like the video mentioned) since the gyros' smaller adjustments don't really lean the wheel at all. With a rounder tire, the amount of corrective force required is more smoothly related to the angle of the lean, and you might be able to make small lean adjustments better.
ALSO! I'm not certain, but I think the shape of the tire miiight have an effect on how the lean angle translates into turning as the wheel rolls along. I think a rounder tire might be more prone to turn towards the lean, which would be helpful, but I'm not sure.
I notice that the gyroscope axis of rotation is above the wheel centerline. Would aligning the two help your stability problems? I would think this would help with the change of force from the gyros when tilting the robot forward and backward.
I'm really curious how much a yaw reaction wheel would improve performance, especially at higher speeds. Then you could more directly twist the wheel like a unicyclist does. I think as the ground speed increases, you could use the reaction wheel to do more and more of the stabilization, especially if you're not too worried about which direction it ends up going. You might even be able to use it to offset some of the off-axis gyroscopic forces when they're tilted.
I'm wondering how your Monowheel robot will looks like when the AI optimize the project considering all the physics and proportion of the components...
I caught your video as I was surfing RUclips. I like how your mind works. There was a moment at the end however, where you seam to be perplexed as to why it turns the opposite way of the lean. I think this has to do with how bicycles turn. While riding along, if you want to turn Left, you pull back slightly on the Right end of the handle bar. This moves the lower part of the bike off center to the Right. As the bike leans into the turn the handle bars, and the front tire, turn to the Left to follow the circle you're riding in. That's just my guess, but it seams to make sense to me.
I wonder if hell do "making my very own battlebot"
I want to learn more electronics . Please teach us
I love seeing videos where things don't work as expected. Keeps us in reality and helps us understand the number of failures that it takes to get a success! Awesome project.
I don't seem to see it anywhere, but what are the joysticks that you are using on your remote?
I recommend to check out electric unicycles. They are monowheels of a sort too, but the rider stands on them instead. Very useful and fun, bigger ones have enough range to go over 100km on a charge with speeds in excess of 60km/h
its a uni not a monowheel
@@Blox117 "of a sort" like i said. Though electric unicycles are also often referred as monowheels and they are actually useful for everyday life. I use mine to commute daily. I get to work much faster than with a car or a train.
@@MikaelLevoniemi monowheels specifically refer to a single track wheel comprising the entirety of the vehicle with the components in the middle. a uni rides on a wheel like any other vehicle.
a monowheel has no axle or hub like a regular wheel does
@@Blox117 Yes? And that's exactly how electric unicycles are built. Many of the components are inside the wheel, except the batteries are on the sides. Many models don't even have an axel because the motor handles all that. There are no mechanical brakes etc. There's a good reason why electric unicycles are often called monowheels. The difference is in size and rider location. Example of an EUC in use in Paris ruclips.net/video/wTKowa7tqsk/видео.html
I use mine to commute and it's much faster than a car or walk+train.
Does the hub have to climb up a bit to move the tire? Would the alternatives be a stuck tire or one spinning frictionlessly in place? Does this 🤖 need an inner-inner hub to correct the gyros while the drive gets things moving?
Awesome project! Why did you use the Nano to monitor the IMU rather than just using the Mega for both the servo and the IMU?
Hi,
If not already mentioned have you tried a rounded profile tire instead of semi flat profile? this may help with steering when leaning over if you know what I'm getting at?
@13:45 uh .. no .. thats just how steering works. Have you never ridden a bike? I think veritassium maybe did a video recently that kind of demonstrates it.
That's a very clever use of bearing balls to get your mass. Perhaps you can use an RPM differential on your speed controllers to get side loading on your gyro to help offset the twist when you try to turn.
For the record, I know there are many liability concerns with a project like this. My newest wheelchair is from a small startup company. They were able to get around the regulations by simply marketing the device as a personal EV. If the item is not marketed towards the disabled, it is completely unregulated. This is how most of the smaller companies get their product to market
thoughts. in the context of steering/turning, maybe a smaller flywheel radius would result in less 'feedback'. or that inline-swinging thing you tried. at :27. designate one direction as forward. and bias the longitudinal balance in that direction. then the system would 'have something to push against', at all times. at 11:04, huh.
i would suggest that you Avoid increasing top-heaviness in the system's distribution of mass (dom)!!! these are words to live by, when a vehicle has an Inherently top-heavy dom.! uncouple it? d
How many sponsors do you want?
Bro was like: Yes
Can the same gyroscopic stabilisation be used in a bicycle when the cycle is stationary, where there is a flywheel present in each cycle and instead of the brakes clamping down on the cycle wheels, the momentum is transferred to the spinning flywheel. A Kinetic Energy Recovery System + Slow or stationary stabiliser. Also CONGRATS ON 1MIL!!!
Isn’t that what Tom Stanton did with this video?
ruclips.net/video/gahKxbwUcYw/видео.html
@@gavinhicks7621 truly we live in exciting times
9:00 isn't it easier to just design a circuit to control inrush current rather than having to fiddle with the speed manually?
Gyros need to be isolated, need bearings and a weight to let them float in the middle, always upright regardless of drive angle.
How would that work with steering angle though? Dunno.
Wow, this is a really tricky control problem. These videos are making me ache for an elegant solution that keeps the wheel stable and allows for controlled turns
IT's better than flying.
It seems firmware should take control of gyroscopes' axes, so that no matter if on a flat surface or steep bump or hill it could always recover up to the angle of rotation of the gyroscopes, which looks like the limiting factor there.
I have zero, none, zilch experience with computers so take this with that knowledge. Is there a way to keep the gyros vertical by having them on their own brackets?
The offset center where it counter steers reminds me very much of how a bicycle front wheel steers, whenever a cyclist turns right, it first swings the steering bar slightly left before turning right.
To solve the issue you described at the end of the video, would it be possible to have a mass at the top of the wheel move forwards and backwards to act as the forwards/backwards controls? This would allow the body to stay upright and avoid the gyro steering issue I think.
13:20 An upgrade to your monowheel would be to put the gyroscope inside a gimbal. This other RUclips video has a good explanation:
ruclips.net/video/cZfpWD00Hoc/видео.html
"Dynamic balancing" (like a bicycle) is more interesting for a mono-wheel. Throwing gyros at this particular problem feels a little heavy-handed. Not to discount your effort by any means! I'm blown away and I think you have excellent engineering intuition as to why a thing failed. Still, I would rather see further experiments in the original direction you began with balance and shifting (not spinning) masses.
horizontal gyroscope will have better balance and steering
Reaction Wheel would do the work!
constantly impressed by your contraptions, Mr. Bruton.
Very good 👍
You need to make them proper reaction-wheels. Or just use a single one that you accelerate or brake to create the rotation.
is it needs tails be extrame havy to keep ex. 45kg balace and 2m tall? how fast spin is needs to have good balance result?
So.... BIGGER MONOWHEEL! To compensate for the gyro, an inner wheel controlling the balance gyro and keep it perpindicular while the outer does the driving ( with all batteries moved to the bottom for mass )!
just add a 3rd gyro to keep the 2 gyros always upright
Have you considered making a haptic chair like ready player one? Like maybe for vr aircraft.
James... You got to get on the Voron train.. It hurts to watch you print so much and have it all happen so slowly for you. Come into the world of min 100mm/s on all moves and 1000mm/s if you are feelin' nutty(More experimental still)
Would love to see you build a functional AT-AT and a Snowspeeder drone to attack it from The Empire Strikes Back.
it's nearly perfect, you just need to suspend the gyros in a 4th wheel that automatically rotates in the opposite direction of the main body and you'll have full control
this is giving me a weird theory (that I am entirely joking about, mostly, kinda, probably)
any vehicle or drone controlled and driven exclusively by wheels is not stable unless it is both a reasonable shape, and in possession of 4 or more wheels
bikes? they fall over all the time
three-wheeled vehicles? the reliant robin is infamous for toppling over whenever it feels like it
cars? you gotta work to flip them and even then sometimes you need outside help
thus the same reasoning can be applied to other shapes: bike w/ a single gyro stabilizing it? you'll never perfectly center it and even if you could you'll get excess forces acting on it like crazy
one-wheeled robot with two gyros? you can't really drive the wheel and keep the gyros stable, ya gonna need another wheel
when you try to lean to left but you actually turn it to the opposite direction might have something to do with center of the mass. for example on this video watch?v=9cNmUNHSBac
please please please, can u do a brake down of your pc components and what setting u have on fusion 360 to make it run faster when doing bigger and more complex models, as I have a great pc myself but when I'm doing bigger projects it can slow down a bit.
Imagine, meccanum wheels, but tracks. Like on an excavator, but four of them and omnidirectional.
Don’t you think adding a kill switch to the remote would have been a good idea, there should be one on any project that is getting tested, maybe also other features like being able to tell when it’s fallen over so it can stop all the motors automatically. Also why do you still use arduino, I get lots of people use it but it has very low performance, you even had to use two in this project, chances are this project and others are getting heavily throttled by using an arduino, especially the PID loops, which I take it may use floating point maths, when the arduino doesn’t have an fpu, just use a STM32 or something. Faster speeds also means more accurate and faster control, so it can react faster to disturbances.
Great job and still your productivity is exceptional ...
try to lower the center of gravity of the system somehow ...
lol! the answer to your irregular gyroscopic procession is gyroscopic INception! 🤣
but srsly, the next logical step is to add gyroscopic compensation to keep your gyros perfectly vertical independently.
Hi James. I noticed the wheel surface is quite flat. When you are driving a motorcycle and your tires wear out they also get a flat surface. Getting to turn the motorcycle then I way more.difficult. you especially notice it when you put a brand new tire.on. it's almost like it's effortless. I'm not sure trying to balance the wheel when it's not moving is the right way of thinking. It's about your active balancing mechanisms to balance it. And when there is a big flat it makes the response not lineair
Once more a great example for people who disregard additive manufacturing for serious prototyping. It would have been a massive effort to create this prototype with classical manufacturing methods and tools.
You should build one of critical role's character, FCG! I would like to see an IRL take on Sam's new character.
Motorcycle paradox, possibly?
Turn wheel left, and it turns you right, as you lean in the opposite direction.
Motorcycle/bicycle steering mught be worth studying here. Many riders don't know how they steer, but in recent years it's been taught in order to pass the "moose test" derived high speed evasin in the module 1 practical.
Control is by torque input on the bars, not positional input. You push on the bars to turn the wheel *away* from the intended turn direction and the wheel moves in that direction away from the centre of gravity causing the bike to lean over and begin to turn into the lean. When torque is removed the stertring geometry follows this lean in a stable curve.
I'm not sure how this applies to a monowheel, but your observation that it does the opposite to the intent from your control inuts mught be part of the same phenomena
Just hanging off the bike (or otherwise moving the centre of mass) doesn't work well as demonstrated by this bike.
Tyre shape is also critucal, if you have a flat section around the circumference the tyres resist the bike leaning over until you get over the flat section onto the curved section, where the bike tips in very fast. It may be that your tyre needs a semicircular profile woithout a flat section in order to have smooth turning.
3D printers have made so many home projects possible which weren't just a few short years (okay maybe a decade) ago.