Introduction: How to Make a Ball Balancing Robot

Last year, I have made this ball balancing robot.It can stand on a ball stable by the balance system of itself.


There is only one connect point between the robot and the ground, so it is more flexible than the traditional wheeled robot. It can move to any directions without turn. For the traditional wheeled robot when its center of gravity is too high it may fall down, but by using this robot the problem will not exist. So the application on this robot can be applied to narrow, crowded and interference environment.
And this robot can be used in many areas, such as security robot, explorer robot and entertainment robot.
This is just a platform and don’t have any practical application on it. We can add all kinds of different function on it according to the situation. For instance, you can add the applications of obstacle avoidance, localization and control by network to realize the function of the document delivery with this robot in your office.
What’s more, there are two ways to control: with the handheld wireless remote control and with the Kinect. By using the Kinect, you can control the car with your body, that’s may have a lot of fun.
The software may include: WPF programing, Kinect SDK, AForge.NET, PID algorithm, Kalman filter algorithm, AVR MCU programing and STM32 MCU programing.
The hardware may include: Gyro sensor, Accelerometer, Geomagnetic sensor, Wireless module, WIFI module, Camera, Kinect, STM32 MCU, Atmega16 MCU, Brushed DC motor (with gear box), encoder, DC motor driver, Controller power supply and motor power supply.
You can see more project here in my website.

So now let's begin to build this robot.

Step 1: Add Omni-Directional Wheel to Brushed DC Motor

In the balancing system of this robot, there are 3 Brushed DC motors. Each motor may have a bracket for connecting and a Omni-Diretional Wheel for driving the ball. 

Procedure:
1. Install the motor brackets to the Brushed DC motors.
2. Add one Omni-Directional Wheel to each of the Brushed DC motors.

Step 2: Make the Motor Bracket

To connect the DC motors to the body of the robot, I used the Aluminum profile to make 3 brackets. And then drilling several holes on them for connecting.

Procedure:
1. Cut the bracket from the Aluminum profile.
2. Cut another two as the same shape.
3. Drilling holes on the brackets for connecting.

Step 3: Add the Motors to the Acrylic Board

After making the brackets, I used the laser cutting machine to cut three pieces of acrylic discs to make the body of the robot. And then, connected them together to make the mechanical part of the robot.

Procedure:
1. Cut three pieces of acrylic discs by using the laser cutting machine.
2. Drilling holes on one of the disc and install the motor bracket on it.
3. Install another two brackets on the disc. 
4. Install the Brushed DC motors on the brackets.
5. Add the ball.
6. Install another two discs.

Step 4: Add the Electronic Modules

Add the electronic modules to the robot.

Step 5: Add Another Three Omni-Directional Wheels

By testing the robot I have built from Step 1 to Step 4, I have found that only use one Omni-Directional Wheel on each of the Brushed DC motors is not enough. So I added another one Omni-Directional Wheel one it. After that, the robot may works well.

Step 6: Made the Controller

I have made two ways to control the robot. One is using the Wireless Remote Control made by myself. And the other way is using the Kinect as the controller.

Comments

author
Rex3906 (author)2017-07-28

amazing work, really want to make this project and hoping u can send me electronics list and the arduino code. rex3906@gmail.com

author
Rex3906 (author)2017-07-28

Can u send a list of electronic parts and code, this project looks like a really good one to make. its amazing work hope u can help

author
SaurabhM47 (author)2017-07-03

please give some info about electronics circuitry

author
SnowRowe (author)2017-05-06

Hey, nice work! I am building a ball-bot and would love to your codes. I will offer to purchase them if necessary. please let me know.

mildlyimpressed@gmail.com
Thanks.

author
AYGANGSTAR (author)2017-04-16

Hi can you please email me a copy of the code? Envy your skills!

Thank you

author
harris.e.jason (author)2016-09-09

Hello, I'm currently trying to develop my own BallBot and need a little help. Your project works very nice! Therefore I wanted to ask if I could look at your source code and components. I would appreciate it a lot!

Email: harris.e.jason@gmail.com

author
EoHyo (author)harris.e.jason2017-04-13

plz share codes with me!! hyo8199@daum.net

author
kenken64 (author)2017-03-17

Possible to share codes with me ? bunnyppl@gmail.com

author
KalvacharlaS (author)2017-03-14

Hi. Could you please send me your schematics and code?
Email: sasi.kalva@gmail.com

author
ŞmşkŞ (author)2017-03-08

Hello. We have our Robotics course and we'll do this project. The project's connections to us clearly describing the flowchart (circuit design). It's going to be when I added in the picture style circuit. Very urgent and very important. We would appreciate if you can help. Thank you.

E-MAİL: sreyhansimsek@gmail.com

author
LeonardoL63 (author)2017-01-22

works awesome! could you send me the schematics and codes plz?

Email: lihan555@hotmail.com

author
ЯнаО1 (author)2017-01-04

Hi :) I want to see your project in 3D environment very much. I would very grateful, if you share the 3D-model, schematics and codes. Thank you in advance!

E-mail: yana290495@mail.ru

author
ajk.bajwa (author)2016-12-13

Great work man, it would be a great help if you could send the schematics and codes.
Email: ahmedjunaidkhalid@outlook.com

author
jints (author)2016-12-11

Hi,

I keep reading this instructable articles, I'd like to teach our students with ballbot making project.

Could you send me materials (code and schematic ) plases.

my email.: tsjin69@gmail.com

author
satoglu (author)2016-10-28

hii

Congrats for the design. Looking forward to try it for my projects .ı see lot of man wants that but would be pleased if you can share me your schematic and source code

satogluibrahim@gmail.com

Kind regards,

SATOGLU.

Kind regards,

author
Fatihsenkul (author)2016-10-17

Hi,

Congrats for the design! Looking forward to try it and would be pleased if you can share me the source code:

fatihsenkul@gmail.com

Kind regards,

Fatih

author
EM KINGdotNET (author)2016-10-08

I keep reading this article. It's time for me to build my own project. Please send me a copy of your source code and schematic. My email address is EM@QUE.COM

And if someone was successfully create a similar project please keep me posted by sending email.

Thank you.

author
sadgaonkar (author)2016-09-29

I want to build this, could you please share your code with me?

email- sameeran2912@rediffmail.com

thanks :)

author
ashleywebb76 (author)2016-09-23

This is such a clean build! If you're sharing your code, I'd appreciate it so much. Ashleywebb76@gmail.com Thanks!

author
Artur FabyJ (author)2016-09-19

Hola, actualmente estoy tratando de desarrollar mi propia robopelota. Por lo tanto, quería preguntar si podía ver su código fuente y componentes. Le agradecería mucho!

arturfaby@gmail.com

author
AlbertoG50 (author)2016-09-08

hello....the robot is amazing....I'm a teacher of high school and I want to make it with some students that are so motivated.Could send your schematic and source code to me, please?

Thank you so much

alberto.garnero@vallauri.edu

here my email: nurizzatulsofea1996@gmail.com

author
FryT (author)2016-08-19

Hello,Could you please send me your code for the robot? I think I have an idea that could use this bot as it's base. Thanks -Fry nixonshead1@gmail.com

author
JoseS38 (author)2016-08-09

Hi!

Could you please send me your code for Arduino Uno? I would like to build this robot, it's amazing!

jose.sebastia.martinez@gmail.com

author
Phongđ2 (author)2016-07-04

Hi sir. I'm in the ballbot project. I've done the hardware. but i've problem software. Could you send me source code, please.

my email: htbd95@gmail.com

author
NurizzatulS (author)2016-06-27

helloooo....thattt robot was very cool and so amazing....i would like to try make it to....Could send your schematic and source code to me, please.!!!...

here my email: nurizzatulsofea1996@gmail.com

author
srahdahkrishnan (author)2016-06-24

can you please send me the sourc code , schematic and the codes for the remote and the bot

Send it here shoandeepr@gmail.com

author
nwncys (author)2016-06-19

Hi! This is an interesting project. Can i have your schematic and source code.

My email is : yigit.ers@gmail.com

Thank you in advance :D

author
DominikB17 (author)2016-06-17

Your robot looks awesome *_*. I'm searching a lot about balancing robots and this is most functional I've found.

Could send your schematic and source code to me, please.

My email: dt4484053@gmail.com

Thank you in advance :D

author
water_lt007 (author)2016-06-15

Hi your robot is so awesome.I want to bulid one like yours.Could send your schematic and source code to me, please.

My email : water_lt007@foxmail.com

Thank you in advance ^_^

author
jasonwong182001 (author)2016-05-09

Hi your robot is so excellent, I want to build one Would send your schematic and source code to me?

My email : jasonwong182001@yahoo.com

Thank you in advance :D

author
Rachid123 (author)2016-05-08

Hi! Your project looks awesome. I am working on a similar project right now. Would it be possible for you to send me an email of your schematic and source code?

My email is : rachidz530i@topnet.tn

Thank you in advance :D You are a life saver!

author
TheGambit (author)2016-04-15

Hi sir. I'm in the ballbot project for my final year now. Can i have your schematic and source code, please.
My email: themaxflame@gmail.com
Thank you in advance ^^

author
giapp (author)2016-04-15

Hi! This is an interesting project. Can i have your schematic and source code.

My email is : htbd95ht@gmail.com

Thank you in advance :D

author
LeonardoL52 (author)2016-04-11

Hi! This is an interesting project. Can i have your schematic and source code.

My email is : lihan555@hotmail.com

Thank you in advance :D

author
SakibulA (author)2016-04-11

Hi! This is an interesting project. I would like to know about the current status and detailed description of the project like bom, schematic and source code.

My email is : shuvo915@gmail.com

Thank you in advance :D

author
thw777 (author)2013-11-06

I have a question here, why is brushed motor is used instead of brushless DC motor, stepper motor or servo?

author
Ufactory (author)thw7772013-11-06

Hi thw777,

Because I just have the brushed motors at hand at that time, so I used them. Now we are trying to use the stepper motors to instead the brushed motors.

author
thw777 (author)Ufactory2014-03-07

Hi, may I request for the source code for this robot?

author
LyS7 (author)thw7772016-03-26

can you send me about the name of main material such as pic controller and code

author
Priyogo (author)2016-03-24

Hello Sir .. Could u send me the source code for this robot?? My email is gorethaipriyogo@gmail.com Thanks ^^

author
KMK6 (author)2016-03-20

I want to make ball balancing robot. but I have unskilled program ability.

Please send your ball balancing robot code.

my e-mail address is rlarudah28@naver.com

Thank you.^^

author
horanghs (author)2016-03-17

Very successful !!!

Can you send me hardware models and software on mail?

hyokuni@outlook.com

author
imranh3 (author)2016-03-05

I have mailed you at ufactory.info@gmail.com.

Please check your mail.

Thanks or contact imran.hameeed@gmail.com

author
MirzaS6 (author)2016-03-03

its awesome ... can you please send me the complete project material.
1)the code
2)the things you have used

3)the schematics

here is my email: shazmirza2@gmail.com

author
andrian.jurat (author)2016-02-23

Very successful !!!

Can you send me code and schematics on mail?

jurat.andrian@gmail.com

Thank you very much!

author
estetka (author)2016-02-07

Hi!

Could you please send me your code for Arduino Mega 2560? I would like to build this robot, it's amazing!

georginas557@gmail.com

author
fatemez (author)2016-02-02

hi,

this is my project too.

could you please send me your code??????

fzarei78@yahoo.com

tanx

author
DieterH1 (author)2015-12-26

Hi I am building a ballbot too, but i have some problems with the control of my motors, can you send me your code?

dieterheinrich1510@gmail.com

author
agül2 (author)2015-12-25

Very successful !!!

Can you send me hardware models and software on mail?

gul.adem@outlook.com

author
Methanbombe (author)2015-12-15

Hi I was wondering how you controled the motors.

Did you control the balancing though a torque controler, and if not how else did you control the motor?