TECH YUVA

2K21

CONVERTABLE SELF BALENCING ROBOT

Presented by:-
AASTHA SRIVASTAVA - 1752531001 Under the guidance of:-
ANKITA VARMA - 1752531014 Mr. PRAHAKANT
NEHA YADAV - 1752531044
TANNU KANNAOJIYA - 1752531055
DWIVEDI
( Assistant Professor)
 Contents

 Abstract
 Aim and Objective
 Introduction
 Block Diagram Of Self Balancing Robot
 Block Diagram Of Remote Control And Working
 Component Requirement
 Reference
 Advantages & Disadvantages
 Future scope
 Conclusion
 Introduction

 A robot that is capable of balancing upright on its two wheels is know a two
wheeled balancing robot.
 This project will undertake the construction and implementation of a two-wheeled
robot that is capable of balancing itself and also can be converted in a 4 wheeled
robot when needed.
 An inherently unstable platform that is highly susceptible to tipping in one axis is
made by assembling structural, mechanical, and electronic component of the robot.
 Self balancing is made using several basic components . One of components is
Arduino, a microcontroller used for building and controlling digital devices that can
interface with the physical world. A remote controller used to control the balances,
moves & run functions of the robot.
 Aim And Object

To demonstrate and improve the

techniques involved in balancing an
unstable robotic platform on two wheels.
The main objective of a self balancing robot
to achieve-
1- More stable architecture (due to the four
wheels design when robot is in standby
mode).
2- More efficient (uses less power because
the motors will not take extra power for
balancing when the robot is doing nothing).
3- Reliability (less load on controller).
It can be controlled and moved by the
remote controller.
Block Diagram of Self Balancing Robot
Block Diagram of Remote Control
 COMPONENT REQUERMENT
1.Ultrasonic Sensor with Servo Motor
2.Arduino Mega
3.4Wheel
4 .Batteries with Charging Circuit
5.DC-DC Converter
6.Stepper Motor
7.HC-05 Bluetooth Module
8.20* 4 LCD with I2C Converter Module
9.Arduino Nano
10. Joystick
1. Ultrasonic Sensor with Servo
Motor:
An ultrasonic sensor is an electronic
device that measures the distance of a
target object by
emitting ultrasonic sound waves, and
converts the reflected sound into an
electrical signal.
Servomotor:
A servomotor is a rotary actuator or linear
actuator that allows for precise control of angular
or linear position, velocity and acceleration. It
consists of a suitable motor coupled to a sensor
for position feedback.
2. Arduino Mega:
The ATmega328 is one kind of single-chip
microcontroller formed with Atmel within
the mega AVR family. The architecture of
this Arduino Uno is a customized Harvard
architecture with 8 bit RISC processor
 core.

3. DC-DC Converter :
As its name implies, a DC-DC converter
converts one DC voltage to another .
4.Stepper Motor:
A stepper motor, also known as step motor or stepping motor, is a brushless DC electric motor that divides a full rotation into a number of equal steps.

5.HC-05 Bluetooth Module:

HC‐05 module is an easy to
use Bluetooth SPP (Serial Port
Protocol) module , designed for
transparent wireless serial
connection setup.
 Working

For self balancing of robot, the motors must stop robot from falling . This
action required feedback and correcting elements. The feedback element is
the MPU6050 gyroscope and accelerometer. They both gives acceleration
and rotation in all three axes. The Arduino uses this to know the current
orientation of the motor and wheel combination.
His project will undertake the construction and implementation of a two-
wheeled that can be converted into 4 wheeled robot when needed.
Advantages:
 Easy to implement
 Removes the load from the main controller
 Commodity transferring
 Medium price
 Environment friendly
Disadvantages:
If surface is not good then self balancing robot can’t work on that surface.
 Application

 It can be used in restaurants to serve food to customer just like waiters do

today.
 They can be used in malls for welcoming people entering the malls.
 They ca also be used in hospitals to carry necessary medical supplies to
patients autonomously.
 Future scope

The width of the wheel can be increased to increased its moment of

interties and grip on the surface.
 Conclusion

This project was successful in achieving its aim to balance a two-wheeled self
balancing autonomous robot based on the inverted pendulum mode. The
control strategy called proportional integral derivative controller to control the
trajectory of the robot which calculates an error value.
 References

1 . Hau - shiue Juang1 and Kai - Yew Lum2 - Design and Control Of a Two -
Wheel Self - Balancing Robot using the Arduino Microcontroller Board:
2. Xiaogang Ruan1, Jianwei Zhao 2- The PWM Servo and LQR Control
of a Dual - wheel Upright self - balancing Robot:
3. Md. Muhaimin Rahman 1, Ashik-E-Rasul 2, Nowab. Md. Aminul Haq
3, Mehedi Hassan 4, Irfan Mohammad Al Hasib 5, KM.Rafidh Hassan6:
Thank You