Robotic Cycle Essay

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Technical Milestone Report: Robotic Unicycle Mechanics & Control Robotic Unicycle: Mechanics & Control Mark Mellors, Pembroke College, Cambridge, CB2 1RF www.roboticunicycle.info January 2005 Technical Milestone Report 1 Abstract A robotic unicycle has been partially built and is being developed jointly by Mark Mellors and Andrew Lamb. The project applies and develops knowledge learnt at CUED. The dynamics of a unicycle has been analysed and modelled using simulink. The Pro/E model was developed using lessons learnt from the dynamics modelling. The unicycle will be used to encourage others into engineering 2 Introduction Balancing a unicycle is difficult for a human rider; we are producing one that does it by itself. Because of the scope and scale of the work required the project is a collaboration of Andrew Lamb (electronics and control) and Mark Mellors (mechanics and control). A unicycle is a unique form of transport that requires a great deal of skill and balance to ride. Because it is so unstable it can be very manoeuvrable and is entertaining to watch and ride. The unicycle will be a showcase of what can be achieved through the application of engineering. 3 Project Aims • • • • • Investigate the mechanisms involved in the balancing of unicycles. To apply skills learnt in control, tribology, dynamics and structural lectures to this problem. To develop an understanding of control systems. To become familiar with the hardware of control systems and their interfaces. To have an impressive project product that can lead to future research. 4 Context The dynamics of a rolling coin and an inverted pendulum are analysed in lectures. This project is an extension of both of these. The author has an interest in robotics as well as riding unicycles. The project will be a combination of theory and practical knowledge. Previous attempts by others at
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