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倒立振子失敗作

https://blog.with2.net/link/?1965529

倒立振子失敗作

https://blog.with2.net/link/?1965529

色々作ってきた倒立振子ですがなかには失敗作もあります構想どまりを含めれば失敗作のほうが多いかもしれません。その中から惜しいところまでは完成した一点です。

小型軽量の倒立振子を製作してみようということで出来上がった前作ですが

もう無駄はないかと基板を検討してみると横方向を10㎜程度は詰めることが出来そうです。しかし横方向は車輪とモーター部分の制約があり、モーターはこれ以上短いものはなさそうなのであとは車輪の選択にかかっていました。

 日本橋の共立電子にてちょうど良い車輪を見つけてきました。「ウルトラライトホイール」というもので元来は模型飛行機の車輪用のようです。重さ1.8g、直径51㎜というものです。これならモーターシャフトに直接取り付けられそうです。
 これを使うことにして、早速基板を検討してみます。仮組した基板と前作の基板を比較してみたところです。13.5㎜横幅が短くなりました。

上が前作 下が横方向を詰めた基板

モーターは前作では回転数200rpmを使ってうまくいきましたが、部品箱には40rpmのものしかありませんので取りあえずこれを使ってみます。

基板にあわせてベースプレートを製作します。
モーターを瞬間接着剤にて取り付けます。ベースプレートの完成です。
車輪を取り付けるとこんな具合です。横幅66㎜です、前作が100㎜でしたから寸法的にはかなりの小型化です。重量の方も期待できそうです。
完成した機体です。
早速試運転をしてみます。
倒立そのものは完璧で、左右旋回も問題なしですが、前後進では転倒してしまいます。

やはり40rpmでは無理がありそうです。前進動作で少し速度をあげると転倒してしまいます。
前進の信号を与えてやると倒立姿勢がくずれるのですが、それを補正するための動きが間に合わないようです。
モータを交換すればなんとかなるのですが最小化の試作ということで機体はあえなくオシャカです。ところでオシャカとは機械技術者専門用語で不良品という意味です。

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