Introduction
A unicycle reaction wheel helps keep a unicycle balanced by spinning a wheel inside it. When the unicycle starts to tip over, the spinning wheel moves to keep it upright.
This project focuses on developing a unicycle stabilization system using a reaction wheel mechanism. Key components include the TB6612 motor driver, ICM 20948 IMU, Arduino Nano ESP32, and the SC15 servo.
Conceptual Design:
Novelty
The unique feature of this project is the use of a servo to tilt the flywheel. This results in gyroscopic precision, allowing us to make left or right turns while in motion.
Goal
- The main objective is to achieve stable balance and smooth directional control of the unicycle using electronics and control algorithms.
- Experiment with the servo by tilting the wheel and make the robot turn around while it's in motion.
Here some picture of my prototype.
Current Update:
I am upgrading the system by replacing the traditional motor with a closed-loop stepper motor for Field-Oriented Control (FOC).
Status: On Going