Design of a Two-wheeled Balancing Mobile Platform with Tilting Motion

Abstract

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.Keywords: two-wheeled robot, balancing robot, inverted pendulum robot, tilting mechanism, posture control

Tilting-Type Balancing Mobile Robot Platform for Enhancing Lateral Stability

“…We have announced basic principles for designing a tilting robot driven by rack and pinion in [21] and applied to a robot wheelchair in [22]. This paper presents the final form of the tilting-type 2WBMR with ball screw driven tilting mechanism, where the dynamic modeling in [21] and the force analysis in [22] are corrected and fully extended.…”

“…This paper presents the final form of the tilting-type 2WBMR with ball screw driven tilting mechanism, where the dynamic modeling in [21] and the force analysis in [22] are corrected and fully extended. In addition, an effective tilting control strategy to reduce the wheel slippage on the ground is given with new experiments.…”