Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340

Warning: preg_replace(): Compilation failed: invalid range in character class at offset 4 in /home/oldmakers/www/wp/wp-content/plugins/crayon-syntax-highlighter/crayon_langs.class.php on line 340
小さな倒立振子

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

小さな倒立振子

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

これまで製作した倒立振子で最も小さなものは、以前このブログで紹介した写真のような外観で横幅90㎜、重量126gが最小です。

この機体は、機能としては倒立機能の他にリモコン走行機能、衝突回避機能を備えています。

これ以上小型・軽量なものは作れるかということで挑戦してみました。

小型・軽量化のポイントはWROOM-02によりマイコンとリモコン機能を兼用してマイコンを省く、モータドライバを軽量でかつ一個でふたつのDCモータを駆動可能なDRV8835に、それに小型軽量な車輪の選定の三つぐらいしか思いつきません。

ということで、車輪はAliexpressで探した下記のようなものを手に入れました。

その他のハードとしては以下のようなものを選定しました。

・ジャイロセンサ MPU6050

・DCモータ 6V駆動、200rpm

・距離センサ、SHARPのGP2Y0A2YKとしますが今回は省略

・その他小物部品

走行部を製作します。モータはベースプレートに直接瞬間接着材で接着します。

基板の大きさのことは考えずに最小寸法で製作したのでベースプレートのサイズは51×42mmとなりました。このサイズに基板を抑えなければなりません。

回路図です。

倒立バランスを調整するためにAngle-offset値を毎度PC上にて変更するのが面倒なので半固定抵抗を今回は追加しました。TOUTポートへの入力を1V以下に抑えるために抵抗分圧しています。

出来上がった基板です。なんとかサイズ内に収まりました、というよりはレイアウトの工夫次第でまだまだ小さな基板にすることは可能な感じです。機体重量が100g前後なので前後方向のちょっとしたバランスの崩れが倒立姿勢に影響します。この基板ではトグルスイッチがその要因となってスイッチ側すなわち後方へ自然に移動しようとします。Angle-offset値を調整してバランスをとりますが実際にはかなり前傾姿勢にしないと正立しないことになりました。

完成した機体です。

横幅75㎜、重量(電池込み)105gということになりました。距離センサが約4gですから、これを入れても110gというところです、前作より15g軽量化できたことになります。

肝心の倒立性です。

問題なく安定した倒立性能です。

今後は距離センサ、リモコン操作を追加してみます。

シェアする

フォローする