Analysis And Design Of Manned Two-wheeled Self-balancing Robot

Manned two-wheeled self-balancing robot is one of the hot areas of research about robotics in recent years. Given its relatively simple structure and shuttling in complete environments freely, it has been widely used in many fields, especially as individual means of transport. In this paper, we firstly summary existing self-balancing robot technology. In order to improve stability and security, we develop a new manned two-wheeled self-balancing robot by improving the mechanical structure, the control circuit and the control program algorithm. The main contents are as follows:Firstly, Function and structure of manned two-wheeled self-balancing robot is designed. Based on finite element analysis technique, Optimization design and analysis of control box is done.Secondly, a control circuit modular is designed. With AVR microcontroller ATMega16 as the core part, the circuit gives specification of the gyroscope and acceleration sensor circuit and H bridge circuit design and implementation.Thirdly, based on dynamic equilibrium principle, the stability of the system is analyzed using the control software. The software design uses the modular design idea, the AD sampling and converting, PWM control and so on are packaged. Timer interrupts are used in the main process to improve controlling performance in real time.Finally, several experiments are done, the experiment results show that the system is safer and stable than existing system.