Single-axis Balancing Robot

To continue the self-balancing robot series, today I’m introducing a completely different version. This robot was built by me as part of a recent project. It can self-balance using only a single motor. A display and buttons are used to adjust the PID coefficients directly without needing to re-upload the code. The purpose of this robot is to support subjects related to PID control, allowing learners to gain an intuitive understanding of how each coefficient affects the system. In version 1, I used herringbone gears with a 1:1 gear ratio. However, it provided relatively low torque. Therefore, in version 2, I modified the gear ratio to 1:2. The parts were fabricated using 3D printing and assembled in a logical and efficient manner. Thanks for your attention. Like and Follow to stay updated on future projects.