FABRICATION OF SELF BALANCING TWO WHEELER USING GYROSCOPE

CONTENTS
 INTRODUCTION
 GYROSCOPE
 GYROSCOPE PRINCIPLE
 GYROSCOPE EFFECT
 APPLICATIONS
 COMPONENTS USED
 OBSERVATION
 CONCLUSION
 REFERENCES
 Introduction

The gyroscopic assembly is designed in such a way that it is heavy at the top which means
the center of gravity should lies above the gimble axle. So the assembly of gyroscope tries
to get the center of gravity to move downwards. And at the same time the motor and
gimble assembly arranged in frame gets bearing reaction at the ends. So there is no other
way for the motor to attain the stability rather than leaning forward or backward. When the
motor starts the body tends to fall on its side and also the motor assembly leans, this
causes the precession in spin axis. Due to this the reactive couple (reactive gyroscopic
couple) acts on frame according to the right hand rule and this minimizes the effect of
disturbing couple and thus the vehicle stabilizes. After few rotations and oscillations of
motor, the motor attains stationary position and gyroscope subjects to pure rolling motion
about the spin axis.
GYROSCOPE

A Device consisting of a wheel or a disc mounted so

that it can spin rapidly about an axis which is itself
free to alter in direction. The orientation of the axis
is not affected by tilting of the mounting, so
gyroscope can be used to provide stability or
maintain a reference direction in navigation systems,
automatic pilots and stabilizers.
GYROSCOPE PRINCIPLE
Rigidity is the ability of a freely rotating mass to maintain its plane of spin when any
external force is applied to it.

1) 1 st Law of Gyroscope: If a rotating wheel is so maintained as to be free to move about

any axis passing through its center of mass, its spin axis will remain fixed in space.

2) 2 nd Law Of Gyroscopes: When torque acts on a spinning mass with an axis

perpendicular to the spin, then the latter will process about an axis perpendicular to
both aforementioned axis, at an angular velocity of. l, Ω, = T/Iω
Gyroscopic effect
The gyroscopic effect is mostly used in air planes and ships , l where the always external
disturbing couple is acting on the vehicle. Thus, for the stability of such vehicles it is required
to neutralize the effect of external disturbing couple or forces which can be done by applying
equal and opposite couple. Accordingly, to Create or generate equal and opposite reactive
couple it is required to change the magnitude and direction of velocity of precession.

The active gyroscopic couple responsible for rate of change of angular momentum, and this
couple must be applied to disc across the spin axis to cause it to process in the horizontal
plane. When the spin axis process itself or is made to process the shaft on which the disc is
mounted applies reactive gyroscopic couple. This reactive gyroscopic couple are produced by
the gyroscope is equal to the external disturbance but it is in opposite direction. So, this
couple neutralizes the disturbance and stabilizes the device.

ACTIVE COUPLE = -REACTIVE COUPLE

Applications of gyroscope

1.Steadicam
2.Heading indicator
3.Gyrocompass
4.Accelerometer
accelerometer

An accelerometer is a tool that measures proper

acceleration. Proper acceleration is the acceleration (the
rate of change of velocity) of a body in its own
instantaneous rest frame; this is different from coordinate
acceleration, which is acceleration in a fixed coordinate
system. For example, an accelerometer at rest on the
surface of the Earth will measure an acceleration due to
Earth's gravity, straight upwards (by definition) of g ≈ 9.81
m/s2. By contrast, accelerometers in free fall (falling
toward the center of the Earth at a rate of about 9.81 m/s2)
will measure zero.
Components used
 ALUMINIUM SHEET
 BEARING
 GIMBLE
 CHASIS
 NUTS & BOLTS
 SOLID DISC
 ALUMINIUM SHEET
We selected aluminium sheet based on two factors
1. Manufacturing and 2. Weight. The aluminium
can easily bend into desired shape. It is very
important in product design. It can't be done by
other metals. If it comes weight factor aluminium is
remarkable for its low density, and it has ability to
resist corrosion through the phenomenon of
passivation.
 BEARING
A bearing is a machine element that constrains
relative motion to only the specified motion and
reduces friction between rotating elements. Most
bearings provided the required motion by
minimizing friction. Bearings are classified
according to the type of operation, the motions
allowed, or to the directions of the loads /forces
applied to the elements. Rotary bearings hold
rotating elements such as shafts or axles within
mechanical machine, and transfer axial and radial
loads from the source of the load to the supporting
members
 GIMBLE

A gyroscope is a wheel mounted in two or three gimbals, which are

pivoted supports that allow the rotation of the wheel about a single
axis. A set of three gimbals, one mounted on the other with
orthogonal pivot axes, may be used to allow a wheel mounted on
the innermost gimbal to have an orientation remaining independent
of the orientation, in space, of its support. In the case of a
gyroscope with two gimbals, the outer gimbal, which is the
gyroscope frame, is mounted so as to pivot about an axis in its own
plane determined by the support. This outer gimbal possesses one
degree of rotational freedom and its axis possesses none. The inner
gimbal is mounted in the gyroscope frame (outer gimbal) so as to
pivot about an axis in its own plane that is always perpendicular to
the pivotal axis of the gyroscope frame (outer gimbal). This inner
gimbal has two degrees of rotational freedom
CHASIS

The chassis of vehicle is designed such that it construction is very simple. The rotating disk is placed at round
space in the middle of the chassis. They are apart from each other to rotate and turn according to the self-balancing
principle. It helps vehicle to stabilize perfectly. At the same time we provide space is allow to connect two wheels
at both of the ends. The wheels are connected to the chassis using axle s. This chassis is mainly built with
aluminium . The dc motor are attached firmly with their mount in the motor chambers. The batteries can be kept
Behind the dc motor chamber. Let consider on the chassis above the hub motor chamber there will another
compartment for engine. The place for the rider and the luggage will be above the main chassis. The chassis will
consist of wires, batteries, gyroscopic assembly and engine. The main motors, electrical components will be
accommodated here the hub motors have been kept in such a way they can move according to the tilting angle as
mentioned earlier. The chassis design makes it can be tilted either ways. The wheels are designed such that it
enough to ride as bike. Vehicle design is wide enough to keep the vehicle stand straight when it is not rolling and
the engine is stop.
NUTS & BOLTS

The bolts are used here to join the different parts of the Gyroscope to the vehicle
chassis. The bolts are consists of male threads on it, which are fitted into the nuts consists
of female threads. The threads of bolts and nuts should match perfectly otherwise they
won't mate. actually they are used to hold two different parts.The bolts usually has
hexagonal head on one side and threads on circumference of bolt and nut are consists of
threads on inner circumference.

These are fastened or driven by using the spanners. The bolts and nuts are standardized
by nominal diameter. Here we used 10 mm and 4 mm dia bolts and nuts. Also we used 6
and 7 no. Spanners to fasten the joint.
SOLID DISC

The solid disc is used as gyroscopic flywheel. A gyroscopic flywheel will roll
or oppose about the yield hub relying on whether the yield gimbals are of a free
or fixed setup. Instances of some free-yield gimbal gadgets would be the
mentality reference whirligigs used to detect or gauge the pitch, roll and yaw
demeanor edges in a rocket or airplane. 

The focal point of gravity of the rotor can be in a fixed position. The rotor all
the while turns around one pivot and is fit for wavering about the two different
tomahawks, and it is allowed to turn toward any path about the fixed point
(aside from its innate obstruction brought about by rotor turn). A few gyrators
have mechanical reciprocals fill in for at least one of the components. For
instance, the turning rotor might be suspended in a liquid, rather than being
mounted in gimbals.
Working
The gyroscopic assembly is designed in such a way that it is heavy at the top which means
the center of gravity should lies above the gimble axle. So the assembly of gyroscope tries
to get the center of gravity to move downwards. And at the same time the motor and
gimble assembly arranged in frame gets bearing reaction at the ends. So there is no other
way for the motor to attain the stability rather than leaning forward or backward. When the
motor starts the body tends to fall on its side and also the motor assembly leans, this
causes the precession in spin axis. Due to this the reactive couple (reactive gyroscopic
couple) acts on frame according to the right hand rule and this minimizes the effect of
disturbing couple and thus the vehicle stabilizes. After few rotations and oscillations of
motor, the motor attains stationary position and gyroscope subjects to pure rolling motion
about the spin axis.
OBSERVATIONS
1. The force experienced by the tilt of rotating wheels depended on the RPM and
weights of the wheels and also angle of tilt.

2. As the RPM increases the counterforce increases. Which means the

counterforce is much higher when the RPM of motor is high.

3. when spinning is in a particular direction. The force direction is determined by

the direction of rotating wheel tilt.
4. To stabilize the balancing the weight fixed to motor helps more.
5. The more the tilt angle, the force needed to stabilizes the system is also more.
 CONCLUSION
 Now a day, if people have to move from from one place to another they should use
a bike or a car. Those who travel with a car effort for self-balancing of a vehicle is not
required but for traveling on bikes balancing is very important mainly at low speed. The
gyroscopic effect helps to achieve the balancing of two wheeler.

 Mainly in aeroplane and ships for stabilization purpose gyroscopes are used
conventionally. This can be effectively used in two wheeled vehicle for self stabilization.
This prototype was designed and fabricated to attain the same. Lot motors brought a
concept of not only stabilizing the two wheeler but also self balancing when external
force applied on it, with the help of some advanced electronics.
REFERENCE
1. Ching-Chih Tsai, Hsu-Chih Huang and Shui-Chun Lin, “Adaptive Neural
Network Control of a Self-Balancing Two-Wheeled Scooter,”

2. Pierpaolo De Filippi, Mara Tanelli, Matteo Corno, Sergio M. Savaresi, and Mario
D. Santucci. “Electronic Stability Control for Powered Two-Wheelers”.

3. Karthik, Ashraf, Asif Mustafa Baig And Akshay Rao, “Self Balancing Personal
Transporter” 4th Student Conference on Research and Development.