Instructables

Self Balancing segway style scooter for under 300.00

Picture of Self Balancing segway style scooter for under 300.00
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I've always wanted a Segway from the first day I saw one, but with the over 6000.00 price tag I couldn't afford one. Thankfully the parts required have come down in price dramatically. I managed to build one for under 300.00. 
here is a list of the most important parts.

1x2" square steel on eBay but mine was scrap we got for free.

Sabertooth 2X25 motor controller from http://www.dimensionengineering.com/products/sabertooth2x25

electric mobility scooter motors ours are from the Jazzy electric chair the sell for 100-150.00 on eBay

5DOF IMU we got from eBay for 25.00 http://www.ebay.com/itm/181004141876?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1439.l2649

Sealed lead acid batteries 12v from eBay or from hardware store 

Thumb Joystick from spark-fun 3.95 https://www.sparkfun.com/products/9032

various switches and 10k potentiometers 5.00 from radio shack

code http://www.instructables.com/files/orig/FLC/KUAL/H6730DTD/FLCKUALH6730DTD.txt from sci chair instructable

schematic http://www.instructables.com/files/orig/F6O/M84D/GYO8A9EU/F6OM84DGYO8A9EU.pdf from sci chair instructable





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kseskses3 days ago

send video how to build it please?

how many fast it is?

yosuf.harb8 days ago

how fast does it go??

Peter20111 month ago

could this be converted to a solo wheel, of course it will require to make the entire thing work by tilt sensor instead, or rather not a lot of retinkering, just need it to work with a single wheel, and a tiltsensor. instead of a analog stick.

fozz18 (author)  Peter20111 month ago

just dont hook up the steering pot and it will do the same thing.

found this for a good price

http://www.tinydeal.com/self-balancing-unicycle-with-210wh-samsung-lithium-battery-p-136027.html

Charc1 month ago

Hi! i have two motors 450 Watts 24V, i use the IMU MPU6050, arduino due.

I'm starting with the build of the Segway, not even how to begin, could you help me? Thank you!

jwalter0075 months ago

Is the UB1250 12volt 5ah battery shown in your pic the battery that you actually used? I am using those & mine seems severely under powered and looses charge within a few minutes. My bats are new. My motors are the same as yours.

Those batteries get dried out after a while you can recover at least 90% of their charge by opening them up with a razor blade cutting around the flat lid gently prizing it off to get a screwdriver underneath prize the top off remove the white blotting paper then gently vent the rubber plugs by pushing them to one side be careful as the gas in the battery can be under pressure, once you pull the rubber grommets out fill with distilled water(time to defrost a freezer or some ice for some distilled water) each compartment will take between 20 and 30 ml of water if it is really dry, if you continue to try to charge a dry battery it kills the capacity and they end up not accepting a charge at all, Judging from what Ive read here why are people using 24 volt wheelchair/scooter motors with a 12volt battery? its no wonder they are so slow and the batteries don't last long, you will need at least two 12 amp batteries in series to make these scooter motors go faster and longer. have a look at a Motability scooter with its two batteries. Or better still try 2 x 12 volt dc windscreen wiper motors, they make good home made electric scooter/wheelchair motors and only have two connections positive and negative.

I ended up replacing with 2 18amp batts. I wish I would have gone with the 36ah that the scooter actually ships with.

davelayde5 months ago

can you make a tutorial with coding and stuff?

fozz18 (author)  davelayde5 months ago

the code is provided. its easy to break down and modify.

theradioman6 months ago

looking at your diagram this design would not work......think you might have the batteries wired up incorrectly

fozz18 (author)  theradioman6 months ago

ya the original author of the picture did that. however most people realize this ahead of time when their building and so far hasnt been an issue

shomas fozz186 months ago

Just to be clear, seeing as the Sabertooth dual 25A motor driver at maximum can draw 100 amps for a few seconds and 50 amps continuously, and that each battery could supply more than 100 amps, I suspect that the batteries should be wired in series for 24V operation as opposed to wired in parallel for 12V for unnecessary more amperage.

davelayde6 months ago
Can it turn while standing still?
fozz18 (author)  davelayde6 months ago
Yes
jwalter0077 months ago

What was your source for wheels? If no source available, can you give the dimensions of the ones you have used?

fozz18 (author)  jwalter0077 months ago
Ebay. Kids quad wheels
jwalter007 fozz187 months ago

Are they about 14" Diameter?

DR42967 months ago

So, if I go hunting locally for electric wheelchairs to use as parts to build something like this... do I just need to be sure to find an electric wheelchair that has TWO motors and gearboxes? And then raid that also for the batteries and any battery charger the owner might still have?

I vaguely recall reading something elsewhere that said not all electric wheelchairs have two motors; apparently, some get by with a single motor.

I'm kind of curious as to why in most tutorials like this, people are buying the motors, batteries, and any battery charger all separately. ?? As I look over Craigslist and local thrift-stores and estate sales.... just casually... at electric wheelchairs.... seems like for $350-500, I might be able to get an entire used electric wheelchair, with charger.

(I don't know much about dealing with motors, controllers, and electronics like this.)

My goal is to actually build something like this... but it doesn't HAVE to be self-balancing. In fact, I'd like one or two more non-motorized wheels. I want to incorporate it INSIDE a Halloween costume.

habaha19817 months ago
hey sschnack the thick red wire and the thick black wire are the ones you need positive and negative. the other two wires are just for the brake. You must take the brake off for this application. just unscrew the black cap off the end of the motor where the wires go in and unscrew the brake assembly from the motor.
sschnack8 months ago

Hi, I bought the Jazzy electric chair motors and having trouble finding documentation. There are four wires: red, black, white, and yellow. My guess is red=power, black=ground, white=power brake when 0V, and yellow=?. I am pretty intimidated by these motors so any information and advice I would really appreciate. Thank you so much for posting!

fozz18 (author) 8 months ago

the analog imu's are getting harder to find all the current ones are digitial. I tried to get a programmer to modify the code but they want over a thousand to do it.

ihart fozz188 months ago

Hi fozz18,

I posted a Segway clone Instructable using a $3 digital IMU. All the code is there. It also uses the less expensive Saber controller. Check it out if interested.

http://www.instructables.com/id/Rideable-Segway-Cl...

ciuvauva8 months ago

Hi, very nice

can you tell power rating and voltage rating of jazzy electric motors. From schematics looks like they are 24V . serial battery connection(but you have to swap one battery)

andinh9 months ago

hi, the 5DOF IMU now is too expensive, can we used others instead?

bremus andinh8 months ago

I'd think one of the flight control boards used for quad copters could be used. They have 3 axis gyro and accelerators

khyram11 months ago
can i ask the maximum speed of this diy segway!? thanks
fozz18 (author) 1 year ago
i just designed a printed board that has the imu and plugs for the handlebar controls. Any interest I could ship in the next couple weeks
CUSTOMIZER1 year ago
PROBELM SOLVED, i had to reverse the motor wires only.

now it balances perfectly but i cant stand on it. there is not enugh power to keep me balanced on it.

do you have any idea how to fix that ?
fozz18 (author)  CUSTOMIZER1 year ago
i need more info about the specs
Im using 2x24V 250w scooter motors
http://www.partsforscooters.com/Motor_electric_250w

and scooter sprockets for the tires
http://www.aliexpress.com/item-img/Chain-sprocket-47-tooth-25H-chain-Razor-E200-E300-Electric-Scooter/355067076.html

And using the same sensor and code as you without changing anything
fozz18 (author)  CUSTOMIZER1 year ago
do you have a picture of your assembled drive? Ideally very small sprocket with the largest drive gear (wheel side) that you can fit that would give you the most torque. the gearing of a pocket bike would be perfect the sprocket is tiny thus plenty of power also. mebe larger motors instead of 250watt mebe 350 watt should also help
I'm using a pocket bikes tiny gears on the 250w motors and the drive gear on a 16" bicycle wheels.
Can I increase the tourqe from the code? If yes, can you show me how?

I will upload a pic for the drive later

Thanks
fozz18 (author)  fozz181 year ago
That is also the reason I recommended wheelchair motors they are a worm gear drive that is VERY powerful
Do you have any idea ?
CUSTOMIZER1 year ago
im working with the same IMU. I really dont know what is the best position to place the imu. and i tried alot but i cant make it balance. when i tilt start it the wheel run very fast in the same direction.
and did you make any changes "adjustments" in the code for the new IMU?
please Help
fozz18 (author) 1 year ago
I set it to be slow during testing because the electronics were exposed and still being tested. In the next week the final design will have a video added to this instructable. Also Keep checking back I have a different model that I'm waiting for a few parts before I can build it. That should be allot faster.
How long do you get out of your two .5 Amp Hour batteries?
fozz18 (author)  vjdjchadisrad1 year ago
1-1.5 hours depending on if its concrete, grass, gravel. I could have put larger batteries and may still will, it was the fact that these were the most inexpensive at the time
lil buck1 year ago
Where did you buy it?
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