One-Wheel Balancing Robot Using Reaction Wheels

I made 1-axis attitude control module SHISEIGYO-1 before.

Then I doubled the reaction wheel and made SHISEIGYO-2 which realizes point inversion.

Here, I made a one-wheel balancing robot using SHISEIGYO-2.

Sphere wheel

I have devised a mechanism that moves independently by making gear grooves in each hemisphere.

Output with a 3D printer.

Turn each with two 360 ° rotation servos.Control with Blynk.

Constitution

3 cell LiPo battery was used as the power source.

The reaction wheel is driven by a brushless motor.

Operaion