Difference between revisions of "TiltOne"
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== Mechanical project == | == Mechanical project == | ||
| + | |||
| + | === Frame === | ||
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. | 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. | ||
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[[Image:Tiltone 2 - ruote alzate.jpg|720px]] | [[Image:Tiltone 2 - ruote alzate.jpg|720px]] | ||
| + | |||
| + | The robot frame is built using standard aluminium profiles (http://www.item.info) to allow future modifications and provide simple solutions to attach auxiliar devices. | ||
| + | |||
| + | === Wheels and transmission === | ||
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 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]]. | ||
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[[Image:Trasmissione.jpg|720px]] | [[Image:Trasmissione.jpg|720px]] | ||
| − | The robot | + | The robot is actuated by two high-power electrical DC motor from Maxon Motor (www.maxonmotor.com) that provide torque to the wheels via a belt drive system. |
| + | |||
| + | == Electrical project == | ||
| + | |||
| + | === Sensors === | ||
| + | |||
| + | === Robot controller === | ||
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| + | == Stability and motion control == | ||
| + | === Classical controllers === | ||
| + | === Reinforcement Learning approach === | ||
== YouTube videos == | == YouTube videos == | ||
Revision as of 11:58, 9 March 2010
TiltOne
| |
 | |
| Short Description: | Balancing robot |
| Coordinator: | AndreaBonarini (andrea.bonarini@polimi.it) |
| Tutor: | MartinoMigliavacca (migliavacca@elet.polimi.it) |
| Collaborator: | |
| Students: | |
| 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.
Contents
Mechanical project
Frame
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.
The robot frame is built using standard aluminium profiles (http://www.item.info) to allow future modifications and provide simple solutions to attach auxiliar devices.
Wheels and transmission
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 is actuated by two high-power electrical DC motor from Maxon Motor (www.maxonmotor.com) that provide torque to the wheels via a belt drive system.
