How to Make a Ball Balancing Robot

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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.

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    159 Comments

    0
    brightled
    brightled

    5 weeks ago

    this item is for sale on Alie Express are you sur you designed and built this item also the prof who holds a patent on this robot has a very nice writeup on several sites. You need to be blocked off this site for plarigsm.

    0
    brightled
    brightled

    5 weeks ago

    This is not an instructable it is a very poorly written advertisement . where are the drawings for the parts (example) you say cut circular pieces of plastic but what size?, you talk about omni wheels but no printer files, you speak of the electronics but not part numbers and last but not lease the most important Where is the code??? . This needs to be BLOCKED.

    0
    jubal1947
    jubal1947

    Question 1 year ago on Step 6

    In the instructions, I see that step 4 says to install the electronic modules. I would like more information as to what those modules include. Specific specifications would be appreciated.

    Thanks

    0
    fred27
    fred27

    8 years ago on Introduction

    Nice. I started a similar project about a year ago, but got sidetracked with other things. I'm sure when I get back to it your guide will be a great help.

    0
    crentsilfran
    crentsilfran

    Reply 2 years ago

    Pls send me the codes and circuits crentsilfran@gmail.com. And very good work by the way . When I make mine I will give u a video

    0
    Ufactory
    Ufactory

    Reply 8 years ago on Introduction

    I will send your the code of this robot if you want. I think this may be more helpful for you to build your own one.
    Looking forward for further communication.

    0
    ballrobot
    ballrobot

    2 years ago

    hello sir! I am working on a ballrobot , too. But i am confused about the controling codes. Could you please send your programe to me? My emil adress is 2869443392@qq.com.
    Thanks anyway.

    0
    m.delsanto
    m.delsanto

    Question 2 years ago

    We are preparing an installation for a Maker Faire and we would be interested to build a ballbot, but we are not expert in coding. Is it possible to have some help from you? Also a collaboration would be of our iterest. Thanks

    0
    Ufactory
    Ufactory

    Reply 2 years ago

    Dear,

    Thank you for your interest in our products.
    We really want to help you ,however, we didn't continue the ballbot project many years ago.
    If you have any other questions, please feel free to contact us ( info@ufactory.cc )

    Ufactory team

    0
    AkshayJ50
    AkshayJ50

    3 years ago

    hello sir,

    i am building this project as my final year graduation project. I am facing problem with code,can please help me with complete content and source code.

    my mailing address : master1spidy@gmail.com

    thank you