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Mechatronic Design of a Gyro-Stabilized Bicycle

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Book cover Advances in Service and Industrial Robotics (RAAD 2018)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 67))

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Abstract

This paper describes the mechatronic design of a gyroscopically stabilized bicycle. This bicycle is equipped with two flywheels rotating at constant speed in opposite direction. The flywheels can be rotated about the vertical axis of the bicycle by an additional drive unit, and due to the balance of angular momentum, a torque about the horizontal axis is generated that can be used for stabilization of the system. For the dimensioning of the overall system the equations of motion for a non-moving bicycle are used and an LQR controller for the stabilization is designed. Experimental results for this task are presented. Additionally the electrical design for this system is presented.

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Notes

  1. 1.

    A video for the swing-up and stabilization of the GSB can be found at https://www.youtube.com/user/robinjku.

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Acknowledgements

This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM).

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Authors and Affiliations

  1. Institute of Robotics, Johannes Kepler University Linz, Altenbergerstraße 69, 4040, Linz, Austria

    Hubert Gattringer, Andreas Müller & Matthias Jörgl

  2. Trotec GmbH, 4614, Machtrenk, Austria

    Matthias Jörgl

Authors
  1. Hubert Gattringer
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  2. Andreas Müller
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  3. Matthias Jörgl
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Corresponding author

Correspondence to Hubert Gattringer .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Nikos A. Aspragathos

  2. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Panagiotis N. Koustoumpardis

  3. Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece

    Vassilis C. Moulianitis

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Gattringer, H., Müller, A., Jörgl, M. (2019). Mechatronic Design of a Gyro-Stabilized Bicycle. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_31

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  • DOI: https://doi.org/10.1007/978-3-030-00232-9_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00231-2

  • Online ISBN: 978-3-030-00232-9

  • eBook Packages: EngineeringEngineering (R0)

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