DOI 10.4010/2016.

1233
ISSN 2321 3361 © 2016 IJESC

Research Article Volume 6 Issue No. 5

Design and Fabrication of Self Balancing Two Wheeler

Pravin kumar singh 1, Abhishek Jaswal2, Saurabh Chand3, Ali Abdullah4, Rishi Chakraborty5
Assistant Professor 1, UG Scholar2, 3, 4, 5
Department of Mechanical and Automation Engineering
Amity University, Lucknow, India

Abstract:
This paper describes the design and fabrication of Self Balancing two wheeler. The Self balancing two wheeler is based on the
principle of Segwаy knows when you are learning forward. To maintain balance, it turns the wheels at just the right speed, so you
move forward. The Self balancing two wheeler is an intelligent vehicle which uses gyroscopic sensors detects the motion of rider, so
that he can accelerate, brake or steer the vehicle. This self balancing is absolutely ecofriendly mode of transport which causes zero
pollution.

Keywords: Fabrication, Gyroscopic, Self balancing ,Segway, Steer,Ecofriendly.

I .LITERATURE REVIEW diversified future transportation modes[8]. Ambrose et al.

The Segway Personal Transportor(PT) is a two-wheeled, self
balancing, battery- powered electric vehicle invented by Dean
Kamen. It is produced by Segway Inc. of New Hampshire.The
Segway PT was known by the names Ginger and IT before it
was unveiled[1].Reilly et al. describes Bicycles increase the
distance that an individual can travel to the station, and some
transit agencies improve access options with bike friendly
policies, such as bike lockers and racks on transit vehicles.
Shuttles, providing fixed route, fixed schedule services offer
another method to increase transit station access [2]. Cervero et
al. describes Access to transit stations from home, work,
recreation centers and other destinations is often challenging,
creating a barrier to transit ridership and overall system
efficiency. At many transit stations, dedicated parking is
limited and fills up early each workday. Transit stations in
moreurban settings have limited or no dedicated parking, so in
this case two wheeler is useful[3].
Koopman et al. describes since its introduction, Segway HT has
caused a good stir in the transportation community and general
public. The operation of Segway HT has been legalized for
sidewalk use in 24 states[4]. Meyer et al. describes segway HT
is motorized and regulated by the Consumer Product Safety
Commission instead of the National Highway Traffic Safety
administration [5] .It is important to know the type and extent
of trips that can be supplemented by Segway HT and potential
market segmentation of such mode. On the other hand, this
research also examines potential challenges to transportation
systems by Segway HT. Those challenges may include, but not
limited, to pavement types and slopes of the travel surface, lane
usage, and safety issues. As claimed by its developer and
manufacturer, Segway LLC [6].Moore et al. describes, HT is a
selfbalancing, personal transportation device that’s designed to
operate in any pedestrian environment. Segway derived from
the word “Segue” means “ to transition smoothly from one state
to another”. Segway HT can travel three times faster than the
average walker, empowering the pedestrian with speed and a
comfortable ride. Majority ofpeople who have tried Segway
HT, express that Segway HT was easy to learn and tomaneuver
in the traffic [7]. Rongfand liu and Rohini Parthasarthy
describes research not only examines the design and marketing
aspects of Segway HT as a new potential mode of
transportation, but also presents a broader and long-term view
on transportation infrastructure improvement to accommodate
unveiled in December 2001, the Segway Human
Transport(HT) presented an innovative new commercial
product for human mobility. The HT’s robustness, speed, and
versatility make it an attractive transport option over moderate
distances (a few kilometers). The two-wheel scooter provides
a unique mode of transport due to its self-balancing mode of
operation. In May 2003, Segway released the Segway Robot
Mobility Platform (RMP) to a group of researchers (Nguyen et
al. 2004a) [9]. Brett Browning et al. describes to adapt the
segway RMP, a dynamically balancing robot base, to build
robots capable of playing soccer autonomously.[10]. Brain
.G.R. huges that onboard computers regulate the power to the
wheels to keep the forces balanced through the rider as shows
balancing of Segway at different conditions that are
accelerating, constant velocity and decelerating [11].
M.Thompson et al. the design and fabrication of Segway
usinggyroscopic sensors, development board and battery
powered electric motors. The design which we have come
with will cost the Segway around 20,000 as compared to
original Segway which costs around 3 lakhs plus tax, thus
making the product cost effective [12]. Sadhna Pai et al.
describes the Segway is based on the principle of inverted
pendulum that will keep an angle of Zero degrees with vertical
at all times[13]. Susan A. et al. describes This paper outlines a
Segway HT pilot research project that explores safety and
training issues and transit feeder service demand[14]. This
research will provide answers about consumer acceptance,
safety, land use, parking impacts, and market niche
potential[15].
II. INTRODUCTION
At first glance, this device called the self balancing two
wheeler basically we can call it a human transporter in some
cases it also look as hi-tech , people who expedited it they
praises the remarkable performance about it as it is different
from other vehicles.
• A device consist of motors as motor-scooter
• Main power by motors
• Movement by changing weight.
• Dean Kamen design follows (150 patents)
• Max speed 10.0 - 12.5 mph
• Maximum distance 14 - 17 miles (single charge)
• It can bear near about 80kg

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 CHASIS

Chasis is made of wooden block and four wooden blocks are

used to make the frame. To make chasis to be balanced,four
wooden blocks of equal weights are used. It is engaged firmly
with the help of stud . Stud is to connect the wooden block
together with the nut. Wheels are attached to the middle of
frame in order to withstand the load capacity. Handle is also
made of same wood to which DPDT switch is fixed.

MOTOR
Motor is fixed with the chasis through screwed bolt and it is
the main source of power with is to drive the vehicle. There
are two motors , each for one wheel. Each motor is driven by
a separate 12v battery.

CHAIN DRIVE
Chain drives are used to transmit power between motor and
wheel. Type of chain used is Power transmitting chains
(Bush Roller Type).
Figure 1.1: Self balancing two wheeler model
Chain drives are used because it has the following advantages:
This two wheeler is the personal transporter which is to move
No slip
from one place to another place with a simple operation.
Occupy less space
Basically it is a look like scooter but the wheel display is
High transmission efficiency
parallel to each other that is both the wheels are positioned side
Highly preferable for small shaft distance
by side.
The Segway is a personal transportation technology invented
STUD &NUT
by Dean Kamen (DEKA, 2007). This technology can be used
A stud is a round bar threaded at both ends . Stud is a
for relaxation or business-related purposes. It can be used by
screwed rod to connect the wooden block together in order to
golfers on a golf course instead of gold carts, by policeman and
make the chasis.
security and also by individuals for sightseeing or to travel
short distances. This two wheeler can be used on rough ground
POWER SUPPLY
in remote farm areas or in the woods as well as on city
20A Continous 12 V input power supply.
pavements and streets. The company that manufactures this
product has tried to develop different types of Segways to fit
DPDT SWITCH
different needs. However, this technology is still in its early
Double Pole Double Throw (DPDT) switch. It is used to
stages and society is going to play a huge role in the
guide the direction of rotation of motor shaft. By operating the
construction of a safe Segway. This paper is going to use
switch the direction of vehicle can be controlled. Connecting
Bjiker's theory of the social construction of technology to look
wires are used to connect switch with motor.
at the Segway in its current stage of development and the
technology behind it, relevant social groups, problems and
WOOD
solutions, future Segway predictions, interpretative flexibility,
The type of wood used to make frame is “COUNTRY
closure and stability and the final safe Segway (Bjiker, 1997).
WOOD”. Four wooden blocks are jointed with the help of stud
and screwed with bolts. Motor and battery are mounted on
III. BLOCK DIAGRAM
frame with help of screws.
Figure 2. Control System Block Diagram
IV. DESIGN CONSIDERATION

A. Torque Calculations

Maximum weight of rider = 80 kg

Chassis weight including batteries = 7 kg
Therefore, Total weight=87 kg (approx.)
Coefficient of friction between road and tyre = 0.3
Torque required = Coefficient of friction*Friction Force *
Radius of Wheel
T = 0.3*87(kg)*7.5(cm)
T = 1.95kgf-m (Approx.)
As two motor are used. Therefore torque required by each
motor = 0.97kgf –m(Approx.)

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TABLE 1: D.Cost Analysis
MOTOR 375 RPM, 20V, Total Cost : 7500 Rs
CHAIN DRIVE 46 LINKS, 552 MM LENGTH TABLE 2:
STUD 76 CM LENGTH, DIAMETER 9 Components Cost Color
MM, PITCH 1.25 MM
Gear Head Motors 4000 Blue
WOODEN BLOCK 500 MM LENGTH, 60MM WIDTH Wheels 600 Pink
INPUT VOLTAGE 12 V(RECOMMENED ) Frame 600 Green
OUTPUT VOLTAGE 12V ,O/P CURRENT 5A PER Batteries /Adaptors 1000 Purple
CHANNEL Chain Drive 200 Sky blue
Sprocket 500 orange
B. Circuit Diagram Stud 100 Dark
blue
Figure 3(A). Control System Circuit Diagram Miscelanios 100 Rot red
Fabrication 400 Dark
green

Cost Analysis
Current
MOTOR MOTOR (A)

Gear Head Motor

Wheels
Frame
Batteries
Chain Drives
SUPPLY Sprocket
Stud
CIRCUIT Miscelanious
BOARD Fabrication

Circuit diagram is as shown in above fig. It consists of 2

switches used for controlling the operation of Segway named as V. MECHANICAL SYSTEM:
engage switch & Series connected 12v supply & a constant The best suitable material for base plate is iron due to its high
current source. It is used to adjust the gain & potentiometer is strength. As a very high load acting on base plate, we use
used to control the steer/direction values. angle plates to avoid bending. For handle we use 1 inch
diameter steel pipe. The pipe is threaded to form a ‘T’ joint.
C. Variation between Current input and RPM When the rider tilts forward the platform along with the
handle tilts forward. The motors are bolted to the base plate
Output voltage: 12V from bottom. For transmitting the torque produced by motor to
Outpur Current: 5A per channel wheels we have designed coupling. It is made up of MS rod
with chain sprockets. This design will help to improve the
6 torque of the motors. In this we have made cycle like structure
5 by using bearing, Rod & sprockets. The batteries are mounted
4 on the platform and control circuit below platform and rider is
ready to ride.
3
2 VI. RESULT
1 The desired objective of low cost self balancing two wheeler
has been obtained.
0
40 80 120 160
VII. CONCLUSION
Variation of RPM with In the course of this project, the design and fabrication of two
Current Input wheeler was done. The attempt to change the existing design
of hi-tech Segway was successfully completed. This project
RPM was implemented with an idea to find an effective solution to
transportation problem. The main objective is to achieve space

International Journal of Engineering Science and Computing, May 2016 5004 http://ijesc.org
utilization and minimize the fuel consumption especially for [12]Brian G.R. Hughes, “The Unique Physics of the Segway
commuting over shortest distance. PT Balanced at All Times”, May 30,2009.

VIII. SCOPE [13] M Thompson, J.Beula Julietta Mary,“Design and

fabrication of failsafe segway,” International
1. Parts which is used can be minimized so that weight can be Journal of Mechanical and Industrial Technology, vol. 2, no.
minimized. 1, pp. 767-782, April 2014.

2. Improvisation of model can done by aligning the axis the of
board and motor and wheel.
IX. REFERENCES
[1] http://en.wikipedia.org/Segway_PT , December,2014.
[2] Reilly, R., and Andrle, S. Forces and Factors that Require
Consideration of New Paradigms. In TCRB Report No. 55,
TRB, Transit Cooperative Research Program, Washington,
D.C. 1999, pp. 4-17.
[3]Cervero, R. Walk-and-Ride: Factors Influencing Pedestrian
Access to Transit. Journal of Public Transportation, Volume 3,
No. 4, 2001. pp. 1-25.
[14] Sadhana Pai, Jayesh Yadav, Rupesh Ramane, Pooja
Pangare, Aniket Paranjpe “Design Of Segway Personal
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[15] Susan A. Shaheen and Rachel Finson “BRIDGING THE
LAST MILE: A STUDY OF THE BEHAVIORAL,
INSTITUTIONAL, AND ECONOMIC POTENTIAL OF
THE SEGWAY HUMAN TRANSPORTER” International
Advanced Research Journal in Science, Engineering and
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[4]Koopman, John, “Dashing new device for delivering mail

Postal Service tries scooters on S.F. hills”, Jul.16, 2002.
http://sfgate.com/cgibin/article.cgi?f=/c/a/2002/07/16/BA23242
5.DTL Accessed Jul. 24, 2002.

[5] Meyer, Caroline, “Rolling right along. Scooter meets few

obstacles but safety issues grow”, Apr. 25,
2002.http://www.washingtonpost.com/ac2/wpdyn?pagename=a
rticle&node=&contentId=A47006-2002Apr25 Accessed
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[6]Segway LLC, http://www.segway.com Accessed May. 29,

2002.

[7] Moore, Bill, “EV World's first test drive of the Segway
personal mobility machine”, Jul. 24, 2002.
http://www.evworld.com/databases/storybuilder.cfm?storyid=3
58 Accessed Jul. 24, 2002.

[8] RONGFANG (RACHEL) LIU and Rohini Parthasarathy

“Segway Human Transporter (HT): Potential Opportunities and
Challenges for Transportation Systems” Submitted to
Transportation Research Record,,november2002.

[9] Ambrose, R.O., Savely, R.T., Goza, S.M., Strawser, P.,

Diftler, M.A., Spain, I. and Radford, N. (2004), “Mobile
manipulation using NASA’s Robonaut”, Proc. Int. Conf. on
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[10] Ray Jarvis ‘‘Do-it-Yourself Segway Mobile Robot

Platform’’ARC Centre for Perceptive and Intelligent Machines
in Complex Environments: Intelligent Robotics Monash
University,2005

[11] Brett Browning, Jeremy Searock, Paul E. Rybski and

Manuela Veloso” Turning Segways into soccer robots”
Industrial Robot: An International Journal
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