Two-Legged Self-Balancing System




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Mechanical System

A 12V electric drill permanent magnet brushed dc motor was chosen because of its cost, size, and speed and torque ratings. Also, the motor has a gearbox attached. The motor is appropriate for the body size and will meet or exceed the torque requirements. Furthermore, the motor has a permanent magnet instead of a field winding so the motor speed is only proportional to the input voltage to the armature.

Plastic was used as the principal component for the system, for its lightest and easiness to work with. Below is a model of the wheel end. The whole system was designed using Solidworks.