REVERSED MOTORIZED

PENDULUM RUBERT II
DANIEL HURWIT, SAM GREEN, BRAD
FIORE
EECE 2210 FINAL PROJECT

CAD DRAWING
1:1 SCALE

3D MODEL

OVERVIEW
Hardware
3D printed chassis
Gearbox
Laser-cut acrylic wheels
Circuitry
Arduino based
3-axis gyroscope
H-Bridge motor drivers
Software
Numerical integration
Power calculations
Power output logic

Issues
Response time
Over correction
Next Steps
PID motor control algorithm
Bluetooth control

HARDWARE - CHASSIS
Designed in Creo Parametric to support gearbox, battery pack, and circuit
components
3D Printed using a Makerbot at the 3D printing studio in Snell
Material choice: ABS Plastic

FINITE ELEMENT
ANALYSIS

HARDWARE GEARBOX
Tamiya Double Gearbox

Allows for independent control over both wheels

Gear box ratio set at 114:1to balance torque and speed
Mounted to the chassis with two 8mm M3 X 0.5 machine screws

CIRCUIT DIAGRAM
Power
9V battery is used to power
the Arduino
4 AAA batteries in series
provide power to the motors
Motors run on 1.5 to 3.0V
depending on desired
output
H Bridge Drivers take
between 3.3V and 5V to
power logic

Logic
Motor direction is controlled
by HI/LO signals of pins 5
and 6, and pins 8 and 9
Pins 6 and 9 have pulse
width modulation enabled

CIRCUITRY - MICROCONTROLLER
Arduino

The brain of the system, also supplies 5V logic power to the system
Retrieves data from input from EEPROM located on gyroscope chip
Has onboard PWM capabilities to convert motor power integer (0-255)
to a voltage
Enables precise control over DC motors

CIRCUITRY GYROSCOPE AND MOTOR CONTROLLERS

27911-RT 3-Axis Gyroscope

I2C chip calculates angular
velocity in X, Y and Z directions
Stores values in an onboard
EEPROM
Angular velocity is stored in
degrees/second
Only value of interest is velocity
in Y-direction
Toshiba TA7291P Motor Driver
Controls direction and power to
the motors
4 modes: CW, CCW, STOP and
BREAK
Scales logic input voltage to
meet motor power requirements
Protects motors from over
driving with a current restriction
circuit

SOFTWARE
Coding can be broken down into three
essential components:
Numerical Integration
First two boxes show the steps for
numerically integrating omega values
in order to determine position
Power calculations
Power is calculated by scaling the
values of theta, omega and
displacement in order to apply the
appropriate amount of correctional
power
Power output logic
The direction of power supplied to the
wheels is determined by the angular tilt
of the gyroscope as well as the
angular velocity relative to the origin
The variable drivepower is a value
between 1 and 255 depending on the
magnitude of the variables

PROBLEMS
Several Major issues:
The center of gravity of the
robot is too low, resulting in
over correction of the position
The Arduino maxes out at
about 20 calculations per
second resulting in applied
power being delayed
The integration drifts over time
resulting in an imbalance of
the robot
The gyroscope produces a fair
amount of noise, which throws
off calculations of theta

NEXT STEPS
A variety of additions can be made to the robot to improve it:
Incorporating a PID control algorithm in to the code will greatly increase the
accuracy of the calculations and allow for more calculations per second.
The current gearbox can be replaced with stepper motors and encoder to help
prevent over correction and improve movement accuracy
A Bluetooth module and UI can incorporated into the code in order to control the
robot from a laptop or smartphone