Unicycle robot with reaction wheels

[@falkgerbig7787]

General recommendation: Hard castors for carpets and soft castors for hard floors, such as with office chairs.

[@falkgerbig7787]

Reaction wheels always generate precession effects too. So, if the reaction wheel is not stopped whereas a turn, this results in a torque which is not wanted. As already proposed concerning the last video, in my oppinion 2 x 2 counter rotating gyros are necessary for proper function regarding roll and yaw axis. With 4 gyros the whole system works very close to a helicopter with 4 propellers. So a flight control system like "BETAFLIGHT" should work and provides a comfortable graphical programming interface. Reaction wheels are good for static applications, but not for dynamic systems like robot cars. A cooperation with James Bruton might be successfull.

[@ReMRC]

Yes, turn with duct fans is an interesting idea. :)

[@falkgerbig7787]

@@ReMRC I would not choose a solution with propellers and recommand each two gyros for roll stabilisation and yaw (steering) respectively. Nevertheless the control device of aeroplanes together with its gui could be helpful also with gyros instead of propellers.

[@ReMRC]

@@falkgerbig7787 Yes I understood. I know BETAFLIGHT.

[@ugetridofit]

One day I hope to see a how to video with code and tuning.

[@ReMRC]

Maybe.

[@d4ro]

Nice design and theyre cute to watch, but to make it complete you should make robot chassis so their “delicate parts” wouldn’t be seen… but maybe these robots don’t mind hehe

[@chanel454879876354]

Awesome project! Do you have any public documentation?

[@ReMRC]

At this time - no.

[@chanel454879876354]

@@ReMRC I hope you will publish 3d models and used hardware list. That is looks like a good platform for algorithms testing

[@ReMRC]

@@chanel454879876354 Used hardware you can find in description...

[@michaelpukwaa4976]

Hi, what software are you using for 3D modelling?

[@flymario8046]

Does the removal of bolts from the disks about 180 degrees apart provide for more turning force or is that an attempt at balancing the wheels? Your projects are interesting. Do the motors have encoders on them? Not that it seems to me that should matter.

[@ReMRC]

Yes, these motors have encoders. I use them in this project. Bolts place not matter. It may not even be a wheel. kzbin.info/www/bejne/np-kkGh6oaljd9U

[@liemph]

Yes, this is genius.

[@Rabnud10]

I have made your self balancing cube and self balancing bike, and would like to make this as well. I think it shows more uses of reaction wheels than the other two. Are you willing to share the 3D print files and code?

[@ReMRC]

The same controller as in the cube (ESP32) and the same motors are used here. Maybe I'll put the source code, but later, because I have other things to do now.

[@Rabnud10]

@@ReMRC Thank you, I really appreciate you looking at doing this

[@ReMRC]

@@Rabnud10 It is difficult to control direction with a horizontal reaction wheel. I tried, but I was too lazy to do better, so it remains as a prototype with a lot of room to improve the program.

[@Rabnud10]

@@ReMRC I see you have modified this design (kzbin.info/www/bejne/nXPciKl3hq6phKs) and uploaded the STL files to Thingiverse and code to GitHub. Thanks you for all the hard work you put into these projects and then sharing them for all of us to enjoy! I will definitely be building this new design, I have all the parts required, and have already downloaded the STL files for printing.

[@ReMRC]

@@Rabnud10 Yes, I tried to make another one.

[@fadhl3790]

Hey! How did u manage to make the green unicycle robot turn? since it is only using the reaction wheel used to control the lateral stability. Is it a combinination of the appropriate roll angle and pitch velocity?

[@ReMRC]

No, watch this kzbin.info/www/bejne/j4C1amBjrZKUlbs

[@fadhl3790]

@@ReMRC Hi! thank you for the video, do you have this as open source for me to understand?

[@fadhl3790]

and does the turning affect the the roll or pitch, or is it independent of those two? By the look of it, it should be independent

[@ReMRC]

@@fadhl3790 Turning destabilizes the balance, and trying to control it causes the reaction wheel to spin too fast. Then the precession effect kicks in, destabilizing everything even more. :)

[@crazycardboardshorts1449]

It's awesome

[@DALESWAR123]

Kuch na kuchh karte rho bro

[@adarshapatra1543]

👍 osome