Design and construction of a unicycle robot controlled by its center of gravity

Document Type : English


Department of Mechanical Engineering, Khomeinishahr Branch, Islamic Azad University, Khomeinishahr, Iran


In recent years, research centers and researchers have focused their efforts on producing vehicles with clean, compact, easy-to-transport, and low-emission vehicles. In this regard, many designs and ideas in the field of unicycle robots have been presented. Single-wheeled robots take up little space and are able to move in narrow spaces. The main purpose of this article is to significantly reduce the dimensions of the unicycle robot and to reduce its internal components, based on which the robot body is designed in the minimum possible dimensions. The mechanism design of this robot, unlike other robots, has its own difficulties and complexities. Using a wheel to move the entire assembly, including controllers, drivers, motors, and many other parts, requires a very precise design for the robot chassis. This design, in addition to including all the components of the robot, must organize the internal components in such a way that the center of gravity of the robot has as much inherent balance as possible. On the other hand, the design of the reversal mechanism in this structure is unique and is completely different from other reversal mechanisms in other unicycle robots. These changes caused a significant reduction in the dimensions and construction costs of this robot compared to similar robots. Using the CC3D controller and the LibrePiolet-GCS software, based on the maneuvers made for the robot, the necessary coefficients for the proportional-integrator-derivative controller were tested so that under them The robot is controlled and selected correctly and in balance. With the adjustment for the controller coefficients, the next maneuvers of the unicycle robot with a rate of over 85% were performed successfully.