From AIRWiki
Jump to: navigation, search
Image of the project TiltOne
Short Description: Balancing robot
Coordinator: AndreaBonarini (andrea.bonarini@polimi.it)
Tutor: MartinoMigliavacca (migliavacca@elet.polimi.it)
Research Area: Robotics
Research Topic: Robot development
Start: 2008/03/01
End: 2010/04/20
Status: Active
Level: Ms
Type: Thesis

TiltOne is a two-wheels balancing robot that can keep itself in equilibrium while moving around. It's a bigger version of Tilty - our first balancing robot - as it is designed to be able to carry a quite high payload (up to 50kg) travelling at speeds of about 1.5m/s.

Mechanical project

As the robot needs to keep the wheel axis just under it's center of mass to mantain the unstable equilibrium point, it's inertia should be high in the upper part of the frame and low at the wheel level, allowing the base to move while the center of mass holds - ideally - it's position. For this reason the batteries, that are the heavier component of the robot, are mounted at the top of the frame.

A preview of the robot structure was realized using Google Sketchup 6, giving a first idea about it's dimensions and components placement Media:Tiltone_2_-_completo.zip.

Tiltone 2 - ruote alzate.jpg

The mechanical project was then realized using Rinoceros 4.0 CAD. Apart from the robot frame, particular attention was dedicated to the design of the transmission and the wheel hub, that allow to use standard cross-bike wheels Media:Tiltone_3_Rhinoceros.zip.



The robot frame is built using standard aluminium profiles (http://www.item.info Item) to allow future modifications and provide simple solutions to attach auxiliar devices.

YouTube videos

External links