James Bruton | How this Robot Balances on ONE WHEEL @jamesbruton | Uploaded 2 years ago | Updated 2 hours ago
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Last time I built a device that balances using a reaction wheel. I described how I used a PID controller with an extra observation controller to make it balance, so check out the previous video for more info on that.
A reaction wheel moves a mass in either direction at a varying velocity, in order to balance a device at a set angle which is measured by an inertial measurement unit. The reaction wheel can only exert a force when it accelerates or decelerates, so if we try to balance off centre then the wheel would have to constantly increase in velocity until it reaches its limit, at which point the device can no longer balance.
I built a device with one reaction wheel which balances in only one axis. However, some devices use multiple reaction wheels to balance in multiple axes.
I’ve also built a number of robots that balance using Control Moment Gyroscopes. These are distinctly different because they use a constantly spinning constant velocity mass, which is actively rotated in a control axis. This exerts a force in a perpendicular axis which allows the device to balance. This effect is called gyroscopic precession and I also talked about this in lots of previous videos.
Although a reaction wheel and a gyroscope can both exert a controlled force in a set direction, they do this in quite different ways. However, the reaction wheel spins sometimes so it will also have some gyroscopic precession effect if it is rotated while it is spinning, and this may cause some unwanted effects.
As well as my previous one-wheel gyroscope balancing robot, I also built another balancing robot with one two-axis actively driven omni-wheel which you can check out in my channel. So in this video, I’m going to attempt yet another one wheel balancing robot using at least one reaction wheel.
CAD and Code: github.com/XRobots/ReactionWheels
You can support me on Patreon or buy my Merchandise:
***************************
Patreon: patreon.com/xrobots
Merchandise: teespring.com/stores/james-bruton
***************************
Affiliate links - I will get some money of you use them to sign up or buy something:
***************************
Matterhackers 3D printing supplies: http://www.matterhackers.com?aff=7500
Music for your YouTube videos: http://share.epidemicsound.com/xrobots
***************************
Other socials:
***************************
Instagram: instagram.com/xrobotsuk
Facebook: facebook.com/xrobotsuk
Twitter: twitter.com/xrobotsuk
***************************
CAD and Code for my projects: github.com/XRobots
Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.
HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
Filament from: 3dfuel.com
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Bearings from: simplybearings.co.uk
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: facebook.com/groups/287089964833488
XROBOTS
Former toy designer, current YouTube 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.
AD: PCBA from $0 (Free Setup, Free Stencil): jlcpcb.com/RHS
Follow JLCPCB FB&PM JLCPCB to get a $10 SMT coupon facebook.com/jlcpcb
Last time I built a device that balances using a reaction wheel. I described how I used a PID controller with an extra observation controller to make it balance, so check out the previous video for more info on that.
A reaction wheel moves a mass in either direction at a varying velocity, in order to balance a device at a set angle which is measured by an inertial measurement unit. The reaction wheel can only exert a force when it accelerates or decelerates, so if we try to balance off centre then the wheel would have to constantly increase in velocity until it reaches its limit, at which point the device can no longer balance.
I built a device with one reaction wheel which balances in only one axis. However, some devices use multiple reaction wheels to balance in multiple axes.
I’ve also built a number of robots that balance using Control Moment Gyroscopes. These are distinctly different because they use a constantly spinning constant velocity mass, which is actively rotated in a control axis. This exerts a force in a perpendicular axis which allows the device to balance. This effect is called gyroscopic precession and I also talked about this in lots of previous videos.
Although a reaction wheel and a gyroscope can both exert a controlled force in a set direction, they do this in quite different ways. However, the reaction wheel spins sometimes so it will also have some gyroscopic precession effect if it is rotated while it is spinning, and this may cause some unwanted effects.
As well as my previous one-wheel gyroscope balancing robot, I also built another balancing robot with one two-axis actively driven omni-wheel which you can check out in my channel. So in this video, I’m going to attempt yet another one wheel balancing robot using at least one reaction wheel.
CAD and Code: github.com/XRobots/ReactionWheels
You can support me on Patreon or buy my Merchandise:
***************************
Patreon: patreon.com/xrobots
Merchandise: teespring.com/stores/james-bruton
***************************
Affiliate links - I will get some money of you use them to sign up or buy something:
***************************
Matterhackers 3D printing supplies: http://www.matterhackers.com?aff=7500
Music for your YouTube videos: http://share.epidemicsound.com/xrobots
***************************
Other socials:
***************************
Instagram: instagram.com/xrobotsuk
Facebook: facebook.com/xrobotsuk
Twitter: twitter.com/xrobotsuk
***************************
CAD and Code for my projects: github.com/XRobots
Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.
HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
Filament from: 3dfuel.com
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Bearings from: simplybearings.co.uk
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: facebook.com/groups/287089964833488
XROBOTS
Former toy designer, current YouTube 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.
