Instructables
Picture of Self Balancing Unicycle
Following the popularity of our self balancing scooter and the SciChair we decided to try something a little edgier, the Self Balancing Unicycle.



This project reuses a lot of stuff from our previous projects, using an arduino as the brains behind the scenes.



 
Remove these adsRemove these ads by Signing Up

Step 1: Ready your tools

Picture of Ready your tools
Before we begin lets ensure we have everything we need. For this project you probably want to be fairly comfortable with welding as you need to build a rigid frame.

Additionally you will need:

•Steel square tubing for frame
•24VDC 300W motor
•Arduino UNO - Check your local suppliers or eBay.
•Sabertooth 2x25 Motor Controller ( www.dimensionengineering.com or a local supplier)
•5 DoF analogue IMU - available on ebay (to be replaced with digital IMU at some point)
•Scooter wheel, sprocket, chain and axle - available as a kit
•Batteries
•Shielded multi core cable for the accelerometer and heavy power cable for the motors
•Deadman switch
•Toggle switch for adjusting balance position.
•DC connector for Arduino.
•DIL pins to suit Arduino
•Double sides tape
•Screws etc
•Drill and drill bits
•Welding equipment and saftey gear
•Soldering iron and solder
•Wire cutter and wire strippers
•Heat shrink and hot air gun to shrink it
PranavN4 days ago
please.. can you make the battery specs available. ?
PärM123 days ago

Great for all of those skillful techies out there who likes the idea of a self build. For us with laziness as a way of life, just head over to moCycl.com and order a ready made one delivered to your doorstep. cheerio

This Russian one is best properly controllable design I have seen with steering and a seat. Does not come up on any search engines but check out the video. Quite low priced too.

http://www.youtube.com/watch?v=q3S1YWMmXbQ

pierretotz12 months ago

Im planning to build one, is it possible to build it with an inhub dc motor typically found in ebikes?

Hub motors these days are almost all brushless. This means you need a brushless motor power controller that can be controlled by your arduino. It can be done but expensive.

guys is there any book that has orderd programming tutorials on arduino

PranavN2 months ago

Cool project. Liked it a lot. I am thinking of trying it, but I am experiencing a problem choosing correct battery. Could you please suggest the right one, like if you tell the one you have used, it will be excellent and helpful.

Thank you.

ZackY12 months ago

Do you guys like self balancing unicycle without a chair?

fwenzel10 months ago
Where is the code??
ScitechWA (author)  fwenzel10 months ago

Step 7 - Code.
Open the txt file and copy the contents into the Arduino IDE or rename the file extension to .ino

They will not allow a file with .ino on Instructables.

fwenzel ScitechWA10 months ago
Thanks for the fast answerse, but, in step 7, here in my PC, I could not, found file for download. I think something is wrong here... Please, can someone send me for email the code. frediwenzel@gmail.com
ScitechWA (author)  fwenzel10 months ago

done

fwenzel ScitechWA10 months ago
Thanks....
BikeHacker10 months ago

Cool

JimRD11 months ago
Where is the code?
ScitechWA (author)  JimRD11 months ago
Added.
fwenzel ScitechWA10 months ago
Sorry, but i could not found it...
danaG7512 months ago
hello,

I have a quick question concerning the toggle switch for balance position.

Are you using a SPDT Rocker Switch and is it monetary?

I also plan on build a unicycle very similar to yours and I'm currently the sourcing parts.

thanks
-Dana
Tyde1 year ago
Hello

Super unicycle
I'm also building
I would like to have the dimensions of the frame
to the same

Thank you in advance
Hello,
congratulations on your new tutorial, and thanks for the valuable advice you give.
Sincerely,
Gerry.
MaleBuffy1 year ago
What size wheel is that and what size sprocket?
ScitechWA (author)  MaleBuffy1 year ago
It is a 12.5" wheel with a 80 tooth sprocket from http://www.oatleyelectronics.com/
Under wheels.
catoctober1 year ago
Where did you get the wheel, sprocket, chain, and axle kit?
ScitechWA (author)  catoctober1 year ago
They were bought from http://www.oatleyelectronics.com/
jgabuna1 year ago
Awesome project. Looking forward to see a 3 axis self balancing steadicam. :)
Dylon1241 year ago
How much did the arduino cost?
ScitechWA (author)  Dylon1241 year ago
The arduino uno is about $33 AUD on Sparkfun but you can find them for around $12 on ebay.
PLEASE use a standalone arduino!
Crotus2k1 year ago
Of all the cool gadgets I saw on TV, cartoons and in comics growing up, I would not have guessed that B.C.'s ride would ever be made into reality. You guys are great. Keep building stuff just because.
ced781 year ago
Hello,

Great, I'd like more details on the construction of the frame Self Unicycle
ribs, material, etc.
Looks cool, but... video?
ScitechWA (author)  fungus amungus1 year ago
A gross oversight. Video is up now.
bob30301 year ago
Cool. I like arduino and Mobility devices. Great way to make a unicycle that Segwayed into a robotic mobility device. (sorry for the humor attempt). Thanks for posting.
wilgubeast1 year ago
Cool project, and that final note on testing is fantastic.
jxross1 year ago
Everyone is thinking it so I'm gonna' just say it:

The first photo just looks "wrong".

ScitechWA (author)  jxross1 year ago
What has been seen, cannot be unseen.