Hi. I'm a service engineer trainee (in automation) from Norway.
A friend om mine, and I are going to make an balance robot on two wheels. I have seen many robots on the internett like this, but all of them are made of electronic parts. We are going to make one with stock automation items.
The body of the robot is made up of 5 floors.
1. floor: Tilt sensor - FAS-G (gyroscope and accelerometer)
2. floor: PLC (programmable logic controller) - CPU, encoder innput, pulse output, input, output, analog innput, analog output.
3. floor: Solid state relays - For pulse-width modulation, and motor fase switch.
4. floor: Power pack - A 24VDC battery
5. floor: Compact metal for extra weight. (and connection space for switches)
top: Control panel - Switches for ON/OFF, PROGRAM MODE, WIRELESS CONTROL
This is how far we are today. The PLC mounted is not the one we'll be using, just mounted it for show.
The 1. floor is made of thin steel, and the 2.-5. (and the top) is made of plexiglass (a special type plexiglass that is stronger, and do not brake that easily)
Under the 1. floor, there are 2 DC motors (with gearbox), and 2 motor encoders. The DC motors are attached to an 14mm shaft that goes trough a bearing.
The encoders is connected the the shaft with a strap or a cog wheel (not sure which we'll go for).
We will use the PLC (OMRON CJ1M) for regulating the balance, driveing-command (first by pre-made programs in the PLC, and later by either wireless control, line-following or sound following), and all other stuff like buzzers, lights, and so on.
The only exception is pulse-width modulation, and motor fase switch, which will be done by solid-state relays. (5pic x 2)
I have no real point of posting this, but I tough you might like to read it, and I welcome comments.