Published May 8, 2022 © GPL3+

Wheeled Self-Balancing Robot | Arduino L293D & HC SR-04

This is a wheeled self-balancing robot. Powered by Arduino UNO and balanced by ultrasonic sensor. It is able to balance itself vertically.

BeginnerFull instructions provided7,149

Wheeled Self-Balancing Robot | Arduino L293D & HC SR-04

Things used in this project

Hardware components

Arduino UNO

Texas Instruments Dual H-Bridge motor drivers L293D

Ultrasonic Sensor - HC-SR04 (Generic)

Geared DC Motor, 12 V

Breadboard (generic)

Jumper wires (generic)

9V 1A Switching Wall Power Supply

Software apps and online services

Arduino IDE

Hand tools and fabrication machines

Hot glue gun (generic)

Wheels for geared dc motor

PVC Pipes

PVC T-Joint

PVC Elbow Joint

Story

Introduction

Demonstration Video

This is a wheeled self-balancing robot. Powered by Arduino UNO and balanced by ultrasonic sensor. It is able to balance itself vertically.

Geared DC Motor

Geared DC Motors for Wheeled Self Balancing Robot

We will be using two geared dc motors to power this robot.

Attaching Wheels to Geared DC Motor

1 / 2 • Attaching Wheels to the Geared DC motor of Wheeled Self Balancing Robot

Now we will attach wheels to the shafts of the motors.

PVC T-Joint

1 / 3 • PVC T-Joint for Wheeled Self Balancing Robot

This is a T-joint for PVC pipe. We will be using it to hold the motors. The wires will come out from the top hole.

Wiring Motors Through T-joint

1 / 2 • Inserting Wires in T-Joint for Wheeled Self Balancing Robot

Before fixing the motor in this pipe, we have to wire them. We will be passing 4 wires from the top hole. Splitting at two ends, 2 wires for each motor.

Pulling Wires Through Top Hole

Pulling wires from top hole of the Wheeled Self Balancing Robot

We will pull the wire from T-joint back so that the motors will be in their place.

Fixing Motors in Place

1 / 2 • Fixing motors of Wheeled Self Balancing Robot

Now we have fixed the motor in the T-joint.

Adding Pipes in Top Hole to Mount Ultrasonic Sensor

1 / 2 • Verticle structure of the Wheeled Self Balancing Robot

We have added some pipes at the wire end of the T-Joint. We will mount the sensor on it later.

Circuit Schematic

1 / 2 • Circuit Schematic of the Wheeled Self Balancing Robot

Here is the Circuit Schematic. We have used L2938 H bridge motor driver IC to rotate motors in both directions.

Concept of the Self Balancing Robot

1 / 2 • Wheeled Self Balancing Robot falling forward

The concept for this self-balancing robot is simple. Here we have an ultrasonic sensor. Which measures its distance from the obstacle in front of it.

if the distance is greater than the fixed distance then the robot will move forward and if the distance is less, then the robot will move reverse. to compensate for its fall.

Wiring Ultrasonic Sensor With Arduino for Self Balancing Robot

1 / 4 • Wiring ultrasonic sensor of Wheeled Self Balancing Robot

The ultrasonic sensor has 4 pins, which are trigger, echo, power, and ground. 4 wires are connected from the pins to the microcontroller.

Watching the Robot Balance Itself

1 / 3 • Wheeled Self Balancing Robot balanced perfectly

Now, the robot is placed vertically on the ground. And it seems like, it is balanced. It is moving continuously to keep itself balanced.

But, it is also getting some support from the wires, which I am holding in my hand.

It is oscillating back & forth continuously, these oscillations need to be damped. So, the robot will be balanced and stand at a point without any movement.

Issues & Resolutions in Self Balancing Robot

1 / 4 • Wheeled Self Balancing Robot Falling 1

If it falls beyond a particular point, then it won't be able to recover itself.

These motors require a lot more power to be fast and responsive.

And while testing, the second H-bridge of the L293D got fried. So, I didn't get the chance to control it via PID.

To truly make it balanced, we could have used the MPU-6050 Inertial measurement unit. Instead, we used this cheap ultrasonic sensor.

CAD Design of the Self Balancing Robot

1 / 3 • Wheeled Self Balancing Robot Falling CAD design

This is the CAD, design of the wheeled self-balancing robot. Here we can see two motors, connected with two wheels. These motors are mounted in the PVC T-joint. a vertical PVC pipe is attached to T-joint. An ultrasonic sensor is attached to the pipe. Pointing downwards.

Conclusion

But, somehow we managed to make it balanced a little bit. We are happy with the results.

Demonstration Video

Robotics EveryDay!!!

Schematics

Code

CAD Design For Wheeled Self Balancing Robot

int ip3=2,ip4=3;
int t=8,e=9;


void setup() {
  pinMode(t, OUTPUT);  //trigger pin
  pinMode(e, INPUT);  //echo pin
  
  pinMode(ip3,OUTPUT);
  pinMode(ip4,OUTPUT);


}


float distance(){
  
  float duration, cm;
  
  digitalWrite(t, LOW);
  delayMicroseconds(2);
  digitalWrite(t, HIGH);
  delayMicroseconds(5);
  digitalWrite(t, LOW);
  
  duration = pulseIn(e, HIGH);


  cm = duration/ 29 / 2;
  
  return cm; //returns distance in centimeters
}


void loop() {
  
  float dis = distance();


  if (dis>27){
    digitalWrite(ip3,LOW);
    digitalWrite(ip4,HIGH);
  
  }else if(dis<27){
    digitalWrite(ip3,HIGH);
    digitalWrite(ip4,LOW);
  }


}

Credits

Robotics EveryDay

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Wheeled Self-Balancing Robot | Arduino L293D & HC SR-04

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Geared DC Motor

Attaching Wheels to Geared DC Motor

PVC T-Joint

Wiring Motors Through T-joint

Pulling Wires Through Top Hole

Fixing Motors in Place

Adding Pipes in Top Hole to Mount Ultrasonic Sensor

Circuit Schematic

Concept of the Self Balancing Robot

Wiring Ultrasonic Sensor With Arduino for Self Balancing Robot

Watching the Robot Balance Itself

Issues & Resolutions in Self Balancing Robot

CAD Design of the Self Balancing Robot

Conclusion

Custom parts and enclosures

CAD Design of Wheeled Self Balancing Robot

Schematics

Circuit Schematic Of Wheeled Self Balancing Robot

Code

CAD Design For Wheeled Self Balancing Robot

Credits

Robotics EveryDay

Comments

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Wheeled Self-Balancing Robot | Arduino L293D & HC SR-04

Wheeled Self-Balancing Robot | Arduino L293D & HC SR-04

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Geared DC Motor

Attaching Wheels to Geared DC Motor

PVC T-Joint

Wiring Motors Through T-joint

Pulling Wires Through Top Hole

Fixing Motors in Place

Adding Pipes in Top Hole to Mount Ultrasonic Sensor

Circuit Schematic

Concept of the Self Balancing Robot

Wiring Ultrasonic Sensor With Arduino for Self Balancing Robot

Watching the Robot Balance Itself

Issues & Resolutions in Self Balancing Robot

CAD Design of the Self Balancing Robot

Conclusion

Custom parts and enclosures

CAD Design of Wheeled Self Balancing Robot

Schematics

Circuit Schematic Of Wheeled Self Balancing Robot

Code

CAD Design For Wheeled Self Balancing Robot

Credits

Robotics EveryDay

Comments

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