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• Test #3: Ultrasonic sensor HC-SR04

  Dharshan Bashkaran Latha • 05/01/2022 at 09:20 • 0 comments

  Using a HC-SR04 ultrasonic sensor to track the position of the cart. 

  Limiting the minima to 10cm and maxima to 45cm (~10mm clearance)

  I used a cardboard cut-out to mount the sensor, and also as a rebound surface, 

  Although the least count is 1cm here, the reading seems to be pretty precise.  

• Test #2: Seeed magnetic encoder

  Dharshan Bashkaran Latha • 04/12/2022 at 14:36 • 0 comments

  Testing the magnetic encoder sensor from seeed with my Inverted pendulum system.

  Magnet used: 5mm NdFeB cube Magnet 
  

  Used a basic code of I2C comm. 

  The sensor was very accurate and consistent. 

  Looking forward to integrate the Ultrasounic range sensor next. 

• Test #1: Stepper motor test

  Dharshan Bashkaran Latha • 04/11/2022 at 15:31 • 0 comments

  Inverted pendulum system using a Nema17 stepper motor, driven by Microstep driver

  Controlled by a Rotary encoder interfaced using arduino uno.

  inferences:

  • Better control achieved.

  • Pulsed motion.

  Further developments: 

  • Program modification for smoother motion
  • Need to verify structure integrity.
     

• Test #0: Motor and mechanism trial.

  Dharshan Bashkaran Latha • 10/27/2021 at 16:48 • 0 comments

  Inverted pendulum system using 12V 775 DC motor, driven by L298N motor driver.
  Controlled by a joystick interfaced using an arduino uno.

  observations:
  - Irregular and abrupt motions.
  - Motor unable to provide enough torque
  - difficulty in precise controlling of the motor

  inferences:
  - Driver limitations 2A output per channel. Hence, could not provide enough torque for smooth            transmission.
  - Mechanism is smooth without the motor involved.

• Final assembly

  Dharshan Bashkaran Latha • 10/27/2021 at 16:13 • 0 comments

  Complete assembly - belt, pulleys and electronics

• 3D printing

  Dharshan Bashkaran Latha • 10/27/2021 at 16:10 • 0 comments

  PETG - 3D printed parts:

  1. Pendulum rod holder
  2. Motor holder
  3. Idler pulley holder
  4. Sensor holder

• Assembly

  Dharshan Bashkaran Latha • 10/03/2021 at 14:22 • 0 comments

• CAD model

  Dharshan Bashkaran Latha • 10/03/2021 at 11:38 • 0 comments

  Black parts are 3D printed parts. STL files to be uploaded soon. 

• Materials

  Dharshan Bashkaran Latha • 09/24/2021 at 06:19 • 0 comments

  Attaching images of items procured. 
  

  Meanwhile designing models that need to be 3D printed - motor mount, base plate, etc.

  Soon to upload CAD models of the setup 

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