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Gadget Freak

Gadget Freak Case #264: Drink Delivery Vehicle Inverted Pendulum

Doug Swift
10/17/2014  
15 comments
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Daniyal_Ali
User Rank
Platinum
I like it.
Daniyal_Ali   10/18/2014 6:49:45 AM
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Well done. I like the idea as well as the implementation, as it would have been quite difficult to cater the stability issues of the robot due to its slim design.
Thanks for the video as we were able to look at the robot in more detail. Initially in the video when the demonstration was on the table, i had concerns about the stability of the robot during high speeds but the demonstration on the ground at the end of the video was really helpful as the vehicle seemed to run on a very nice speed with stability.

armorris
User Rank
Platinum
Way cool project
armorris   10/18/2014 1:33:46 PM
That's a way cool project. It makes my seven Gadget Freak projects look like nothing, from a technical standpoint. My only complaint is: Where is the electrical and software documentation? The project should have sufficient documentation for someone skilled in the art to duplicate it. This one does not. I enjoy learning from these peojects, but here, I cannot.

Why is the battery mounted at the top? Does it necessarily have to be top-heavy to work? I would think that it would be more stable with the battery mounted lower. This is among the things not explained in the documentation.

I just realized that if the battery was mounted lower, it would have to tilt farther to move forward or backward, possibly spilling the drink. Also, the weight of the drinks would have less effect on the system dynamics, with the heavy battery mounted up high.

Daniyal_Ali
User Rank
Platinum
Re: Way cool project
Daniyal_Ali   10/20/2014 3:36:40 AM
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Good points armorris. The documentation would not only help us understand it better, but will also clarify the designers way of thinking while implementing each stage.
The components placement is very crucial in these types of projects, as a slight error can result in instability, so the designers usually try different orientations to see the effect and then choose the best one. It depends on the way of thinking of a designer and also on the usage of the device, sometimes the designer compromises a little on stability to have an overall good looking design

Nugent_56
User Rank
Gold
More info needed.
Nugent_56   10/20/2014 8:41:28 AM
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This would be a good project to build and modify. Can we get the block diagram, schematics, board layout, software, theory - something? What's the point of publishing this if it's not reproducable. I thought that was the purpose of Gadget Freak?

BrainiacV
User Rank
Platinum
Next gen
BrainiacV   10/20/2014 9:56:12 AM
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Now all it needs are builtin arms to raise itself to operating position.

tomw
User Rank
Iron
Re: Way cool project
tomw   10/20/2014 10:04:59 AM
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Longer pendulums have a lower natural frequency and are easier to balance. This is easy to demonstrate if you try to balance a pencil or yardstick vertically in the palm of your hand. I can do it with a yardstick but the pencil is too fast for me.

tfcsd
User Rank
Iron
Code and schematics?
tfcsd   10/20/2014 11:30:07 AM
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Code and schematics?

78RPM
User Rank
Gold
Re: More info needed.
78RPM   10/20/2014 1:24:37 PM
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I agree with Nugent and tfcsd. We need the program code and schematics.  That's the purpose of Gadget Freak. The build instructions are incomplete. We all know how to mount boards on a chassis.

78RPM
User Rank
Gold
Re: Way cool project
78RPM   10/20/2014 3:47:31 PM
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Yes, amorris, you figured it out yourself.  That's a good question for a high school physics class.  It obviously took you only seconds to think it through.  The heavy battery is placed at the top, along with the drinks.  To put it simply, the rotation occurs around the center of mass. If the center of mass is near the top, very little angular momentum takes place.  If the battery were near the bottom, the motors would have to accelerate the mass of the battery which uses more power.

armorris
User Rank
Platinum
Re: Way cool project
armorris   10/20/2014 4:24:14 PM
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Thanks, 78 RPM. Your explanation is much clearer and makes a lot of sense.

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