Topic:

Balancing of a bicycle using a gyroscope and determining the extent of stable equilibrium
Project Guide : Mr. C. Subramaniam
Team Id: D13 Onkar Deshpande : 1020910127 Rahul Halder : 1020910151 Rahul Ramachandran : 1020910152

Objectives
To make self-balancing bicycle. To find the angle of rotation to attain precise self balancing action. To establish the correct position of the gyroscope axis in order to reduce error. To find the extent of stable equilibrium under gyroscope.

Previous works
http://thekneeslider.com/archives/2012/05/26/lit-motorsself-balancing-fully-enclosed-2-wheeler-prototype-takes-firstslow-test-run/

Concept
The bicycle wheel as it rotates tends to bend about a perpendicular axis. Let us define the motion vectors: 1. x - denoting axis of rotation of the bicycle 2. y denoting the axis of bending of the bicycle axis 3. z denoting the resultant vector about which the wheel tends to turn. (negligible) Thus we need only to effectively counter the vector y to ensure balancing action. The gyroscope acts to provide that counter force.

The Bicycle wheel

The Gyroscope

Motions: 1. The wheel rotating about x-axis. 2. The wheel bending about y-axis.

Motions: 1. The wheel rotating about x-axis

Needed: Force to counter the bending motion of the wheel

Needed: To produce an equivalent opposing force in the y-axis to cancel the effect of bending of the bicycle wheel Action: An external twisting motion about zaxis. Vector addition with the wheel rotation vector will give rise to a force in the y-axis opposing the bending of the bicycle wheel axis

Action: Dependent on gyroscopic action

Knowledge from previous courses

Engineering mechanics Strength of materials Machines and mechanisms Machine Design Manufacturing technology

Procedure
Procure a bicycle prototype for testing Install sensors to sense the angular position of the bicycle wheel Accordingly set up a mechanism to activate the gyroscopic motion. By conducting several trials for a pre-defined speed find the critical angle of stable equilibrium

Materials To Be Used
A small cycle is used for the prototype. A rimmed wheel is used for the gyroscope. The gyro-sensors used for sensing the tilt of the cycle. Stepper motors are used for moving the axis of gyroscope.

Constraints
Material constraints: To select a lightweight material with good machinability to manufacture the gyroscopic wheel. Design constraints: To minimize the loss of torque To select a sensitive and lightweight motor

Timeline
Stage Literature review Design Fabrication Testing Data Analysis Report Generation Date October 20, 2012 December 20, 2012 January 20, 2012 February 20, 2012 March 20, 2012 April 01, 2012

Thank you