In daily life, you see more and more segways. I thought, can you make a segway from Lego Technic. Yes itís possible, but without Lego Mindstorms balancing is a difficult question. How I solved this problem, that will you read in this article. I want to emphasize that the real segway has a totally other look and steering method.
About this creation
2x PF M-motor, each drives one wheel
1x PF receiver, between the legs of the driver
1x PF battery box, in a low position
1x PF lights, activated when right wheel turns
1x PF lights, eyes of the segway driver
Gear ratio from M-motors to wheels: 1
Tekst and photoís
This is the segway driver. I made this to demonstrate the realistic dimensions of the segway.
The rear of the segway. Notice the many cables and the smooth floor.
How do I balance the segway? By putting the largest part of the weight under the axis of rotation of the model. The axle of rotation is formed by the axles of the wheels in this case. But this is a nice theory, but in practice it is different. You should namely know that motors always exert forces on the frame to turn the wheels. When driving forward, these force is directed down. Therefore, I added little wheels to compensate this force.
These forces are shown in this photo.
A solution for the balancing system is using Mindstorms NXT, but I wanted to design a model with this wheels. When you have bigger wheels, for example that of the Lego Technic Unimog U400 (8110), it is interessant to use Mindstorms NXT in combination with an ultrasonic sensor. Then you can write a progam, for example in NXC, to balance the robot at each speed.
Building instructions are available, as shown in this photo.