Design and Fabrication of Self Balancing Bike

A report submitted in partial fulfilment of the requirement

For the Degree of the
Bachelor of Technology
In
Mechanical Engineering
By

Charanjeet Singh (201510102110004)

Mohit Kewlani (201510102110021)
Pallavi Verma (201510102110043)
Akash Kumar Singh (201510102110008)

Under the Guidance of:

Er. Nitesh Pandey

May, 2019

Faculty of Mechanical Engineering

Shri Ramswaroop Memorial University
Lucknow, Deva Road- 225003, India
 CERTIFICATE

This is to certify that the project entitled, “Design and fabrication of self-balancing bike" submitted
by Charanjeet Singh- 201510102110004, Mohit Kewlani-201510102110021, Akash Kumar
Singh-201510102110008 and Pallavi Verma- 201510102110043 in partial fulfillment of the
requirements for the award of Bachelor of Technology in Mechanical Engineering at the Shri
Ramswaroop Memorial University, Lucknow for the year 2019 is an authentic work carried out
by them under my supervision and guidance.

Er. Nitesh Pandey

(Guide)
Asst. Professor
Dept. of Mechanical Engineering

Dr. Rajesh Porwal

Professor and Dean
Dept. of Mechanical Engineering

Date:
Place:

i
 ACKNOWLEDGEMENT

We take this opportunity to express my deep sense of gratitude and indebtedness to

my supervisor Er. Nitesh Pandey in the department of Mechanical Engineering.
Who has helped enormously and always inspired us by his indispensable guidance
and encouragement during dissertation work. He has always supported and
strengthened us in many aspects. His thoughtful and valuable reviews, constructive
criticism and tireless review of the manuscript has immensely helped us to improve
the work. We consider ourselves fortunate to have worked under his supervision.
We are highly grateful to Dr. Rajesh Porwal, Dean of the Faculty of
Mechanical Engineering, SRMU, Lucknow for providing necessary facilities and
encouragement during the course of the work.
At the end, we put on record our gratitude to our parents for their support and
encouragement for this endeavor.

Charanjeet Singh
(201510102110004)

Mohit Kewlani
(201510102110021)

Akash Kumar Singh

(201510102110008)

Pallavi Verma
(201510102110043)

Place: Lucknow
Date:

ii
 ABSTRACT

The project focuses on the concept of developing a two wheeler bike & it’s validation with the
help of a prototype. The project deals with an experiment carried out to produce gyroscopic effect
on the prototype. The prototype is a two wheel vehicle in which rotating discs imparted act as
gyroscope to produce a counter balancing force i.e. gyroscopic effect when the vehicle prototype
loses balance on either sides. Thus the vehicle stabilizes itself. Wherein even if an external force
is applied to the system the gyro forces deployed in it sense the force and develop a force of similar
magnitude but in opposite direction due to gimbal of two axis used in the vehicle, thus the vehicle
does not lose its balance even if the external force is applied to it.

iii
 CONTENTS
Certificate ………..………………….…….………………………………. i
Acknowledgement ...……………………………………………………… ii
Abstract ……………………………….….……………………………...... iii
Contents …………………………………..………………………………. iv
List of Figures …………………………………………………………….. vi
List of Graphs ……………………………………………………………...vii
List of Tables ……………………………………………………………....viii
Chapter 1: Introduction …………………………………………………... 1
1.1 Idea ……...…………………………………………………............ 1
1.2 Project Outline …………………………………………………..... 1
1.3 Problem Statement ………………………………………………... 1
1.4 Objectives ……………………………………………………….... 2
Chapter 2: Literature Review ……………………………………………. 3
2.1 Stability achieved with Mechanical Gyroscope ...…………...……. 3
2.2 Methods to attain a stable two
wheel arrangement of vehicle………………………….………………. 3
2.3 Approach ……………………………………………………...…… 4
Chapter 3: Conceptualization ………………………………………....….. 5
3.1 Proposed chassis structure …………………………………………. 5
3.2 Designing Aspect ……………………………………………….….. 6
Chapter 4: Model Fabrication …...………………………………………… 8
4.1 Prototype Overview ...……………………………………………… 8
4.2 Component Overview ……………………………………………… 8
4.2.1 Flywheel (gyro-wheel) ……………………………………. 8
4.2.2 12V DC Motor …………………………………………….. 9
4.2.3 Gimbal …………………………………………………….. 10

iv
 4.2.4 5V DC Motor ………………………………………………... 10
4.2.5 Battery…………………………………………………………11
4.2.6 Ball Bearings ………………………………………………… 11
4.2.7 Rubber Wheel ……………………………………………….. 12
4.2.8 Radio Receiver ………………………………………………. 12
4.2.9 Radio Transmitter …………………………………………… 13
4.2.10 Wood Chassis ……………………………………………… 13
4.3 Construction …………………………………………….……………. 14
Chapter 5: Working and Mathematical Data ………………………………… 15
5.1 Working ………………………………………………………………. 15
5.2 Flow Chart of Sensing ………………………………………………... 16
5.3 Mathematical Stability ...……….…………………….....….……….... 17
5.3.1 Analytical Data Overview …………………………………… 18
Chapter 6: Conclusion and Future Scope ….….….………………………….. 22
6.1 Conclusions …………………………………………………………... 22
6.2 Future Scope…………………………………………………………... 22
Reference .......................................................................................................... 23

v
 LIST OF FIGURES

Fig. 3.1 Side view of the Vehicle ……...…………………….………...............…. 5

Fig. 3.2 Front-Left view of Vehicle………………………………………....…..… 6
Fig. 3.3 Rendered Drawing of the bike……...………………………………….… 7
Fig. 4.1 Casted flywheel ……………………...……………………………….….. 9
Fig. 4.2 12V DC Motor ………………………..……………………………….… 9
Fig. 4.3 U-shaped gimbal ………………………..……………………….....…... 10
Fig. 4.4 5V DC Motor ……………………………...………………………….... 10
Fig. 4.5 12V DC Battery …………………………………………………….…... 11
Fig. 4.6 ϕ22mm Ball Bearings ……………………………………………….…. 11
Fig. 4.7 Plastic molded rubber layered wheel ……......………………………..... 12
Fig. 4.8 Radio receiver ………………………………..……………………….... 12
Fig. 4.9 Radio transmitter ……………………………...………………………... 13
Fig. 4.10 Wood Chassis frame …………………………...…………………....….13
Fig. 5.1 Flow Chart of Sensing ………………………………………………...... 16
Fig. 5.2 A toy undergoing gyro-forces …………………………………….......... 17

vi
 LIST OF GRAPHS

Graph 1 Radius v/s Moment of Inertia, Mass-1.2kg...……………………….….. 19

Graph 2 Radius v/s Angular Momentum, Mass-1.2kg...….……………………... 19
Graph 3 Precession angle v/s Tilt distance, Mass-1.2kg….…...………………… 20
Graph 4 Precession Angle v/s Torque, Mass-1.2kg.….......................................... 20
Graph 5 Mass (g) v/s Speed of Disc (RPM)...…………….…………................... 21

vii
 LIST OF TABLES

Table 1 Changes of MOI and angular momentum.....…….………………………18

Table 2 Changes of Tilt Distance and torque...……………………………....….. 19
Table 3 Mass v/s Speed table ....………………………………………………… 20

viii
 DESIGN AND FABRICATION OF SELF BALANCING BIKE

CHAPTER 1
INTRODUCTION
1.1 IDEA
Motorbike is a very popular transport around the globe. It has been very popular due to its energy
efficiency, compact design, convenience and attractive look. Many youngsters consider it as
fashionable ride while people in the developing country often use it as a low priced vehicle with
better fuel efficiency. However, despite of the features and popularity motorbike has lack of safety
and is very risky. Therefore, motorbike accidents are fatal. An injury is must while death is more
frequent scenario. The major lacking in motorbike addressing the safety features are the
passenger’s body is exposed during ride time which allows the passengers to get off the vehicle
and exposes him to impact with roadside elements and the chance of damage is limitless.

1.2 PROJECT OUTLINE

So as the name suggest the ride would be a bike that can move forward or backward (turning can
be introduced later), controlled through a wired remote and at the same time autonomously
balancing itself and avoid falling.
On the other hand many people does not consider it as a transport as it does not have the comfort
features like the car while two wheel vehicle can save energy and space. We designed a vehicle
which can minimize the damage during an impact. We all are familiar with the balancing of two
wheeler. Little consideration shows that balancing of bike is done by two key factors:
1. Mass distribution (center of gravity).
2. One direction motion.
So to overcome this drawback of balancing self-stability of two wheeler is achieve by gyroscopic
effect. The gyroscopic effect is widely used in air or sea vehicles such as air planes and ships;
where in always external disturbing couple is acting on the vehicle. Thus, for the stability of such
vehicles it is essential to neutralize the effect of external disturbing couple which can be done by
applying equal and opposite couple.

1.3 PROBLEM STATEMENT

Now a day, if person have to commute from one place to another he has to use bike or a car. Those
who commute with car don’t need effort for self-balancing of vehicle but in case of bikes balancing
is very important particularly at low speed. Autonomous vehicles have long been an area of
expansion and ground breaking research. Breakthroughs are constantly being made in sensor
technology and automation that enable the creation of more useful robots. However, one major

1
limitation of automated vehicles is in the area of stability. Most robots require a wide wheel base
and a minimum of three points in contact with the ground to maintain stability. Increasing the
number of wheels on a robot reduces the efficiency of the drive system by adding weight,
increasing friction or drag, and increasing power draining components. So to overcome this
drawback of balancing self-stability of two wheeler is achieve by gyroscopic effect. The Self
Balancing Bike (SBB) offers a new way to circumvent these limitations. By using only two in-line
wheels, the SBB reduces both weight and width without sacrificing stability.

1.4 OBJECTIVES

The objective of building a self-balanced two wheeler vehicle is mainly to ensure safety of the
rider. We have considered the scenario of our country, India in this manner. Enormous numbers
of people become victim of fatal accidents. Moreover, the cars in the cities are increasing day by
day but the roads are not increasing. So if a vehicle that can serve like a car and just takes the small
amount of place like a motorbike whether for parking or running on roads, would be a better
solution for people. With the cabin the rider is safe from impact of thrust and with the self-
balancing property of the vehicle; the rider is safe from falling. We are trying to make a compact
size vehicle for low power consumption too.

2
 CHAPTER 2
LITERATURE REVIEW

2.1 Stability Achieved with Mechanical Gyroscope. [1]

In 2017, Gogoi, Nath, Barman and his team published a paper on self-balancing bike, this
literature recite the concept they came up with. A gyroscope is a spinning wheel or disc in which
the axis of rotation is free to assume any orientation by itself. While rotating, the orientation of
this axis is unaffected by tilting or rotation of the mounting, according to the conservation of
angular momentum. Because of this, gyroscopes are useful for measuring or maintaining
orientation. Gyroscopes are also based on other operating principles, such as the electronic,
microchip-packaged MEMS gyroscopes found in consumer electronics devices, solid-state ring
lasers, fiber optic gyroscopes, and the extremely sensitive quantum gyroscope. Due to their
precision, gyroscopes are also used in gyro theodolites to maintain direction in tunnel mining.
Gyroscopes can be used to construct gyrocompasses, which complement or replace magnetic
compasses (in ships, aircraft and spacecraft, vehicles in general), to assist in stability or be used as
part of an inertial guidance system.

2.2 Methods to attain a stable two wheel arrangement of vehicle. [2]

A bicycle is inherently unstable and without appropriate control, it is uncontrollable and cannot be
balanced. There are several different methods for balancing of robot bicycles, such as the use of
gyroscopic stabilization by Beznos et al. in 1998, Gallaspy in 1999, moving of the Centre of
Gravity (COG) or mass balancing by Lee and Ham in 2002, and steering control by Tanaka and
Murakami in 2004. A very well-known self-balancing robot bicycle, Murata Boy, was developed
by Murata in 2005. Murata Boy uses a reaction wheel inside the robot as a torque generator, as an
actuator to balance the bicycle. The reaction wheel consists of a spinning rotor, whose spin rate is
nominally zero. Its spin axis is fixed to the bicycle, and its speed is increased or decreased to
generate reaction torque around the spin axis.
Reaction wheels are the simplest and least expensive of all momentum-exchange actuators. Its
advantages are low cost, simplicity, and the absence of ground reaction. Its disadvantages are that
it consumes more energy and cannot produce large amounts of torque. In another approach
proposed by Gallaspy the bicycle can be balanced by controlling the torque exerted on the steering
handlebar. Based on the amount of roll, a controller controls the amount of torque applied to the
handlebar to balance the bicycle.

3
2.3 APPROACH

The law of conservation of momentum states that if no external torque is exerted on an object or
system, the net angular momentum of that object will be conserved. Satellites use this concept for
attitude control by the use of reaction wheels. If the satellite needs to adjust its attitude, it applies
a torque on the reaction wheel causing it to accelerate. The reaction wheel in turn, applies an equal
amount of torque on the satellite in the opposite direction. The torque that the reaction wheel
applies, spins the satellite and adjusts its attitude. Similarly, to a satellite, our robotic bicycle
contains a gyroscopic wheel and uses it to maintain its balance.
A motor exerts a torque on the gyroscopic fly wheel, which in turn exerts an equal amount of
torque back on the bicycle. By careful control, this action-reaction combination can balance the
bicycle. A gimbal system accepts the robot’s tilt angle as feedback and turns on the perpendicular
axis of gyro-wheel to drive the entire system to a vertical position. Because of the importance of
gyroscopic precession that basically counter torque the system to stay stable under tilting
condition.
A bicycle remains upright when it is steered so that the ground reaction forces exactly balance all
the other internal and external forces it experiences, such as gravitational if leaning, inertial or
centrifugal if in a turn, gyroscopic if being steered, and aerodynamic if in a crosswind. Steering
may be supplied by a rider or, under certain circumstances, by the bike itself.

4
 CHAPTER 3
CONCEPTUALISATION

3.1 PROPOSED CHASSIS STRUCTURE

The design of the chassis is kept very simple. The rotating disks are accommodated at round space
in the middle-top of the chassis. They are quite apart from each other to rotate and tilt according
to the self-balancing principle. It helps to stabilize the vehicle perfectly. At the same time enough
space is allotted to connect two wheels at both of the ends. The wheels are connected to the chassis
using axles. This chassis is mainly built with Aluminum.

Gyro-wheel

12V DC motor

Rear wheel

Rear forks

Battery Pack

Fig. 3.1 Side view of the Vehicle

The motors are attached firmly with their mount on the chassis-motor chambers. The batteries or
other components can be kept under the middle plate in the chamber. The chassis will consist of
batteries, wires, gyroscope and motors. The automatic gear system will also be controlled from
here.

5
The main motors, electrical components will be accommodated here the hub motors have been
kept in such a way they can move according to the tilting angle as mentioned earlier. The chassis
was let to be tilted either ways. The wheels are designed a bit wider than the usual two wheel
vehicles to have a better stability. Wheels are wide enough to keep the vehicle standing still when
it is not rolling and the engine is off without any help of the self-balancing technology.

Servo (steering) Motor

T-Section

Front forks

Front wheel

Fig. 3.2 Front-Left view of Vehicle

3.2 DESIGNING ASPECT

The major data of the whole proposed model came from a real motorcycle’s scale down dimension
using a scale factor of 1:10. Other dimensions are calculated based on the standard electronics used
in the proposed model. The part modelling is done on Autodesk Inventor Professional 2017, and
assembled together. The Wheel are made of rubber and have a diameter of 50mm reduced from
20inch wheel of a regular motorbike to 10th factor. Ball Bearing of Standard 22mm diameter are
used inside the wheel for smooth motion. Similarly other dimensions such as wheel base,
suspension length, wheel thickness, etc. are calculated from that conversion factor only.

6
Fig. 3.3 Rendered Drawing of the bike

7
 CHAPTER 4
MODEL FABRICATION

4.1 PROTOTYPE OVERVIEW

The objective of this model is to prove the fact that the a body can be balanced only on two parallel
spin axis wheels in idle or running condition with the use of a mechanical gyroscope. The
gyroscopic principle can be successfully used for creation of a prototype of a two-wheeled vehicle,
and thus observing gyroscopic phenomenon on the same.
The prototype was created using following parts:
 Flywheel (Gyro-wheel)
 12V DC Motor
 Gimbal
 5V DC Motor
 Battery
 Ball Bearings
 Rubber Wheel
 Radio Receiver
 Radio Transmitter
 Wood Chassis
 Metal Hinge
 Metal fabricative parts

4.2 COMPONENTS OVERVIEW

4.2.1 Flywheel
The Flywheels resist changes in rotational speed by their moment of inertia. The amount of energy
stored in a flywheel is proportional to the square of its rotational speed. It is a spinning wheel or
disc in which the axis of rotation (spin axis) is free to assume any orientation by itself. When
rotating, the orientation of this axis is unaffected by tilting or rotation of the mounting, according
to the conservation of angular momentum.
So, this flywheel’s base metal is Mild Steel and it is machined on Lathe machine to obtain a
diameter of 100mm with a thickness of 10mm, that would sum up the mass up to 800gm.

8
 Fig. 4.1 Casted Flywheel

4.2.2 12V DC Motor

A DC motor is any of a class of rotary electrical machines that converts direct current electrical
energy into mechanical energy. The most common types rely on the forces produced by magnetic
fields. A DC motor's speed can be controlled over a wide range, using either a variable supply
voltage or by changing the strength of current in its field windings.
We uses a 12Volts DC Motor with 0.8 to 5 mNm of Torque at 10000 RPM to power the heavy
disc of gyroscopic wheel.

Fig. 4.2 12V DC Motor

9
4.2.3 Gimbal
A gimbal is a pivoted support that allows the rotation of an object about a single axis. A set of
three gimbals, one mounted on the other with orthogonal pivot axes, may be used to allow an
object mounted on the innermost gimbal to remain independent of the rotation of its support.

Fig. 4.3 U-shape gimbal

4.2.4 5V DC Motor
As denoted above the DC motor does the same but this one is 5 Volts running at around 200 to
700 RPM to power the rear wheel to make the Setup mobile.

Fig. 4.4 5V DC Motor

10
4.2.5 Battery
A battery is a device consisting of one or more electrochemical cells with external connections
provided to power electrical devices such as flashlights, smartphones, and electric cars. When a
battery is supplying electric power, its positive terminal is the cathode and its negative terminal is
the anode.
Here we use a 12.4 Volts of battery with a capacity of 4 Ah.

Fig. 4.5 12V DC Battery

4.2.6 Ball Bearings
A ball bearing is a type of rolling-element bearing that uses balls to maintain the separation
between the bearing races.The purpose of a ball bearing is to reduce rotational friction and
support radial and axial loads.As one of the bearing races rotates it causes the balls to rotate as
well. Because the balls are rolling they have a much lower coefficient of friction than if two flat
surfaces were sliding against each other.

Fig. 4.6 ϕ22mm Ball Bearings

11
4.2.7 Rubber Wheel
As the wheel are there to provide reduced friction-rolling motion. They’re plastic mould with
rubber layered at the outer periferi.

Fig. 4.7 Plastic moulded Rubber layered wheel

4.2.8 Radio Receiver
A radio receiver is an electronic device that receives radio waves and converts the information
carried by them to a usable form. The antenna intercepts radio waves (electromagnetic waves) and
converts them to tiny alternating currents which are applied to the receiver, and the receiver
extracts the desired information.

Fig. 4.8 Radio receiver

12
4.2.9 Radio Transmitter
A transmitter or radio transmitter is an electronic device which produces radio waves with
an antenna. The transmitter itself generates a radio frequency alternating current, which is
applied to the antenna. When excited by this alternating current, the antenna radiates radio
waves.

Fig. 4.9 Radio transmitter

4.2.10 Wood Chassis
A chassis is the framework of an artificial object, which supports the object in its construction
and use. An example of a chassis is a vehicle frame, the underpart of a motor vehicle, on which
the body is mounted.

Fig. 4.10 Wood chassis frame

13
4.3 CONSTRUCTION
The wooden frame is used as the main chassi, which is held together by strip of metal front front
end and a little back to the middle end which are bolted tight. Round edge wheels are fitted to the
steel base at the bottom, the holes in the frame are drilled in order to fit the gimble of the gyroscope
assembly, the DC motor supported on a U bracket is placed on the gimble. The only pre-requisite
for this setup to work is that the mass distribution, the mass should be dominant on the upper side
(setup should be top heavy) of the gimble.
The center of gravity is thus just above the gimble axis, stainless steel disc used as gyroscope are
fitted to the shaft of the motor. The DC motor is bolted to the U-bracket due to which it remains
intact with it and the shaft of the DC motor is fixed to a steel hub which has got holes drilled on
its top flat surface to be used to finally fix the gyroscope disc by bolting it with the hub. The
material used in making the gyroscope disc is Mild Steel, chassis is from wood and rest metal
Alumunium is used as it is easy machineability.
To finally assemble the entire model, various sizes of nuts and bolts were used. One
important design consideration that we made in this model is that the gyroscope disc should be
freely suspended in the U-bracket connected to the steel frame. So for that, we used ball bearings
and studs to make the angular movements and adjustments free and swift. The circlips are placed
on the inner ends of the studs to avoid the studs to move out of the ball bearings, thus avoiding
breakdown of the model during the running condition. The model has been made in such a way
that the front wheel can move to take turns in order to change the direction of movement.

14
 CHAPTER 5
WORKING & MATHEMATICAL DATA

A bicycle remains upright when it is steered so that the ground reaction forces exactly balance all
the other internal and external forces it experiences, such as gravitational if leaning, inertial or
centrifugal if in a turn, gyroscopic if being steered, and aerodynamic if in a crosswind. Steering
may be supplied by a rider or, under certain circumstances, by the bike itself. One other way that
a bicycle can be balanced, with or without locked steering, is by applying appropriate torques
between the bike and rider. This automatic balancing is generated by a combination of several
effects that depend on the geometry, mass distribution, and forward speed of the bike. Tires,
suspension, steering damping, and frame flex can also influence it, especially in motorcycles. [4]

5.1 WORKING

The model is powered by a power supply unit of 12V output. Once the motor starts rotating, the
Mild steel disc fitted on the motor shaft starts to rotate and gradually gains speed. This rotation of
the disc leads to the production of the gyroscopic effect thus, when the wheels lose their balance
due to the active gyroscopic couple, a counter acting reactive gyroscopic couple is produced in the
opposite direction due to gyroscopic effect, thus stabilizing the prototype model.
This gyroscopic effect occurs on both left as well as right hand side. Thus, due to rotation of the
gyroscope, a counter-acting reactive gyroscopic couple leads to the stabilization of the prototype.
The motor and gimbal axle assembly is designed in such a way that it is too heavy. This means
that the center of gravity lies above the gimbal axle. So the motor and gyroscope assembly tries to
attain the position such that the center of gravity of the core will move downwards. But at the same
time the motor and gimbal assembly is arranged within the frame having bearing reaction at ends.
So, the only possible way for motor to attain the stability is to either lean forward or backward.
So, when the motor is started the body is about to fall on either side or also the motor assembly is
leaning this causes the precession of spin axis.
Due to this precession, according to right hand rule the reactive gyroscopic couple acts on
the frame which nullifies the effect of the disturbing couple and thus stabilizes the vehicle. After
few rotations and oscillations of motor, the motor and frame attains the stationary position and
gyroscope is subjected to pure rolling motion about the spin axis.
This automatic balancing is generated by a combination of several effects that depend on the
geometry, mass distribution, and forward speed of the bike. Tires, suspension, steering damping,
and frame flex can also influence it, especially in motorcycles.

15
5.2 Flow Chart of Sensing:

Gyro is rotating
clockwise

Tilt is sensed

No
Yes Is it Tilted
Left?

Is it tilted
No
right?

Yes

Rotate the Do Nothing Rotate the gimbal to

gimbal to back front

Counter torque Counter torque acts

acts left to right right to left
Chassis

Fig. 5.1 Flow chart of Sensing

16
5.3 MATHEMATICAL STABILITY

Consider the couple acting on the vehicle due to the unbalance condition, i.e., weight of prototype
is distributed on two wheels only is ‘C’. Due to this couple the body of prototype tends to fall on
either of the side.

So, ‘C’ is Disturbing Couple.

Let, ‘I’ be the moment of inertia of discs about the axis of rotation.
And ‘ω' be the angular velocity of motor.
As the motor has tendency to lean forward or backward due to which the precession of spin axis
takes place say it takes place by angle ‘Ө’ in time ‘t’.

So the reactive couple acting on the frame due to gyroscope is given by equation

C=𝐼 × 𝜔 ×
But, = ωp
Where, ωp is the angular velocity of precession of spin axis.

The only variable in this above equation is ωp this precession velocity changes as the angle of
precession changes. Therefore it’s observed that as the vehicle comes to near stabilization state the
tilt of the gyroscope is oscillating within small angular range. That means the reactive couple is
almost equal & opposite to the disturbing couple. [3]

Fig. 5.2 a top undergoing gyro-forces [5]

17
 τ Basic Formula used are:

hsinθ Moment of Inertia, I =

r
Angular Momentum, Iω =

Torque = Fr*sinθ
Force, F= m*g

m*g Tilt Distance = h*sinθ

h

5.3.1 Analytical Data Overview

The data given below is already been analyzed with almost same prototype with different working
diameter of flywheel and as well as different masses of flywheel.

Serial No. Radius (m) Moment of Inertia (kgm2) Angular Momentum (kgm2/s)
1 0.01 0.0001 0.159
2 0.02 0.0004 0.638
3 0.03 0.001 10.436
4 0.04 0.0019 2.553
5 0.05 0.003 3.989
6 0.06 0.004 5.745
7 0.0725 0.0063 8.388
8 0.08 0.007 10.213

Table I: Changes of moment of inertia and angular momentum with respect to radius [1]

18
Graph 1 : Radius vs Moment of Inertia, Mass-1.2kg [1] Graph 2: Radius vs. Angular Momentum, Mass-1.2kg
[1]

Graph 1 gives us the clear idea that when we try to increase the radius of the gyro disc, the Moment
of Inertia (MI) produced by the gyroscope increases. So, we can say that with varying radius of
the gyro disc, the Moment of Inertia (MI) varies accordingly.
Graph 2 shows the relation between the radius of the gyro disc and the Angular Momentum
produced by the gyroscope. Here, we can see that when we try to increase the radius of the gyro
disc, the Angular Momentum also increases in response to the varying radius and vice versa which
means that radius is a varying factor to obtain varying Angular Momentum values for the
gyroscope.
In Graph 1 and Graph 2, we recorded the readings by keeping radius as the parameter of change
to gain different readings of Moment of Inertia and Angular Momentum produced by the
gyroscope respectively.

Serial No. Precession Angle () Tilt Distance (m) Torque (Nm)

1 5 0.0871 1.0249
2 10 0.173 2.042
3 20 0.342 4.022
4 30 0.5 5.88
5 40 0.642 7.559
6 45 0.0707 8.315
7 46 0.719 8.459

Table 2: Changes of Tilt Distance and torque with respect to Precession Angle [1]

19
Graph 3: Precession angle v/s Title distance, Mass- 1.2kg [1] Graph 4: Precession Angle v/s Torque, Mass 1.2kg [1]

Graph 3 shows the relation between Precession angle and Tilt distance of the gyroscope. Here, if we vary
the angle of precession axis, the distance of the precession axis from the normal varies accordingly. So, we
can see that with increase in precession angle, the tilt distance also increases accordingly.
Graph 4 is the representation of the results by varying the Precession angle in order to obtain corresponding
values of Torque to the change in the values of Precession angle. When the Precession angle increases, we
see a change in the value of Torque generated by the gyroscope. Here can see that increasing values of
Precession angle leads to increase in the Torque generated by the gyroscope.

Serial No. Mass (g) Speed of the disc (rpm)

1 1200 12700
2 1100 13550
3 1000 14860
4 900 15790
5 800 16650

Table 3: Mass v/s Speed table [1]

20
 Graph 5: Mass (g) v/s Speed of Disc (RPM) [1]

Graph 5 shows the impact of Mass on the speed of the rotation of the Gyro disc. We got to know
from the above graphical representation that when mass of the Gyro disc is increased, the speed of
the Gyro disc decreases accordingly. The line on the graph depicts the points in relation of both
speed of disc and mass when the vehicle is balanced.

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 CHAPTER 6
CONCLUSION AND FUTURE SCOPE

6.1 CONCLUSIONS

This is a two wheeler vehicle that has many more safety features than motorcycles which make it
more reliable. Safety is one of our top priorities with this vehicle. However, the most important
safety feature is our gyro stability system. This will keep the vehicle upright even in a collision,
preventing the vehicle from flipping or rolling. On the other hand it will also help the environment,
as it is an electric vehicle. It will also be more comfortable than any other motorbikes at the same
time will require a very small space of parking. The idea of two wheeler self-balanced vehicle is
new.

6.2 FUTURE SCOPE

The major factors that make this concept of vehicle stand out are listed below:
 A bicycle uses less track space as compared to any other vehicle.
 It is more flexible and easy to steer as compared to any other vehicle.
 It can cut through obstacles easier than a four wheeled bot.
 This technology can be extended to make a self-balancing unicycle which is much better
in terms of space and steer ability.
 Due to its low weight and greater steer ability, it can be made faster than a humanoid bot.
 This robot might be useful for transportation in research areas or mines where man or four
wheeled bot cannot reach.

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REFERENCES

[1] Pallav Gogoi, Manish Nath, Bumi Trueman Doley, Abhijit Boruah, Hirok Jan Barman,
“Design and Fabrication of Self Balancing Two Wheeler Vehicle Using Gyroscope”,
Vol.9 No 3 Jun-Jul 2017, ISSN (Online) : 0975-4024
[2] Mukeshkumar Prasad, Nilesh W. Nirwan “Design and Fabrication of Automatic Balancing
Bicycle”, (IJSETR), Volume 5, Issue 2, February 2016, ISSN: 2278 – 7798
[3] Akshay Khot, Nishad Kumbhojkar, “Modeling and validation of prototype of self-
stabilizing bike using gyroscope”, (IJARET), Vol 5, Issue 12, Dec-14, ISSN 0976 - 6499
[4] Rishikesh Patil, Kunal Satalkar, Vivek Shirsath & Vineet Singh, “Prototype of self-
balancing two wheeler”, April, 2017, ISBN: 978-93-86171-12-2
[5] Samuel J. Ling, Jeff Sanny and Bill Moebs, “Precession of Gyroscope”, Fig. 11.4.3.

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