Self Balancing Vehicle Inspired By Bicycles Of Yesteryear

[XenonJohn] is not a newcomer to the world of self balancing vehicles. He was part of the Medicycle team and a semifinalist for The Hackaday Prize. Working on the Medicycle had exposed some opportunities for improvement of the design, the most significant being the single wide wheel supporting the vehicle and rider. The unicycle design was more difficult to learn to ride than that of a two-wheeled nature. [XenonJohn] wanted to make an improved self balancer and this new one will have two wheels that are independently controlled.

Although the finished product looks like it started with a bike frame, the self-balancer’s frame is actually completely custom. The handlebars and banana seat were purchased new as aftermarket parts for old-style bicycles. Powering the two wheels is a pair of 24v brushed motors, conveniently each one came with a 6:1 reduction gearbox pre-installed. The wheels are a complete compilation of parts not intended to go together. The BMX bike rims were laced to mountain bike front hubs. The hubs have provisions for a disk brake but [XenonJohn] mounted a large toothed pulley there instead. A belt then connects the drive motor gearboxes to the pulleys completing the drive train.

The LiFePO4 battery kit was purchased off eBay and puts out 24v and 15AH using eight cells. These batteries alone were a hefty percentage of the projects cost, costing nearly $300. Controlling the vehicle is an Arduino Mega that makes use of the FreeSix IMU library. The Mega receives inputs via I2C from a Sparkfun SEN-10121 board that contains both accelerometers and gyroscopes along with turn switches connected to the ‘brake’ levers on the handlebars. The Arduino then sends commands to the 25 amp Sabertooth motor controllers to keep you balanced as you buzz around town.

Video below.

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Surfing Around on a Self-Balancing Cloud

Throughout time it’s just been plain cool to genie around from point A to B on some form of personal portable hardware. Understandably so, it was the goal of [Dane Kouttron] to modify and improve the common standard in such a way that anyone could hop on his board and ride without a period of flailing to keep balance. In his Flying Nimbus project, the rider floats aloft a single power-driven wheel that will even do the balancing bit for you.

Inspired by some interesting aluminum scraps and an old 3 phase DC servo driver, [Dane] starting conjuring ideas of combining the two in order to produce his own self balancing form of transportation. A chunky reused tire from a local go-kart track turned out to serve as his wheel of choice which would mount between the feet of the rider. After ordering a 48v hub motor and waiting for it to make its way over from China, [Dane] took the time to model all of the individual parts, motor, and wheel in CAD to figure out the needed measurements for the custom pieces he’d later fabricate to fit around them. The aluminum frame that the rider stands upon not only houses and conceals the power cells and electronics running the central wheel, it also illuminates white light from the sides to stand out at night. Along the road of troubleshooting, [Dane] eventually scored a complementary top-notch servo drive from AMC, who ultimately wanted to see his project rolling as badly as he did. There is a load of detailed documentation on the layers of problem solving that went into the project on his blog, as well as more on the hardware used by [Dane] to get the board actively balancing. Seeing the final product should further enforce that there is no better way to get around then on the likes of something you made yourself:

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Forkless Motorcycle Tears up the Track

The bike above may look like a pristine Yamaha prototype, but it’s actually the work of [Julian Farnam], a motorcycle hacker of the highest level. We caught his Yamaha A-N-D FFE 350 on OddBike, and you can read [Julian’s] own description of the bike on his Slideshare link.

The FFE 350 started life as a Yamaha 1990’s RZ350 two-stroke racer. From there, [Julian] gave it his own Forkless Front End (FFE) treatment. Gone is the front fork, which while common in motorcycle and bicycle design, has some problems. Fore-aft flex is one – two thin tubes will never make for a rigid front end. Changing geometry is another issue. Since forks are angled forward, the front wheel moves up and to the rear as the shocks compress. This changes the motorcycle’s trail, as well.

Forkless designs may not have these issues, but they bring in a set of their own. A forkless design must have linkages and bellcranks which are often the source of slop and vibration. [Julian’s] design uses two sets of linkages in tension. The tension between the two linkages removes most of the slop and provides that directly connected feel riders associate with forks.

The FFE 350 wasn’t just a garage queen either – it laid down some serious laps at local tracks in Southern California. Unfortunately, the forkless design was too radical to catch on as a commercial venture, and the FFE has spent the last few years in storage. [Julian] is hard at work bringing it back to its 1998 glory, as can be seen on his restoration thread over on the Custom Fighters forum.

Gearshift Display for a Rally Car

[Andrea] was helping out a local rally racing team with their car and was asked to create a device that would display the current gear on a big, bright display. Of course, a device like this already exists, but the team didn’t want to invest the significant resources into a ready-made product. Instead, [Andrea] was tasked with creating one.

The device is basically a pot attached to the gear shifter, but in testing, [Andrea] ran into a problem; between reverse and 5th gear, the shifter would turn 360 degrees, meaning these gears were indistinguishable.

The solution to this problem was a calibration procedure for when the driver starts the car. By setting a jumper, the driver puts the car into all gears, sorting out the reading and storing the analog values in the microcontroller’s EEPROM.

Hybrid 50cc Ultracapacitor Scooter

We’re all familiar with hybrid gas-electric cars these days, but how about a hybrid scooter that uses supercapacitors instead of batteries? Our hats are off to [Alex] from Labs Bell for the almost entirely-DIY conversion.

The hybrid idea is to drive the vehicle’s wheels with electric motors, but generate the electricity with a normal gasoline engine. This allows the hybrid to control the engine speed almost independently of the wheel motors’ demand for power, allowing the gas engine to run at its most efficient speed and charge up batteries with the extra energy. As an extra bonus, many hybrids also use regenerative braking to recoup some of the energy normally wasted as heat in your brake pads.

[Alex]’s hybrid scooter does all of the above and more. Since the stock vehicle is a 50cc scooter, any increase in acceleration is doubtless welcome. We’d love to see the scooter starting from stop with a full charge. Using supercapacitors as storage instead of batteries is a win for charging efficiency. In urban stop-and-go traffic, the natural habitat of the 50cc scooter, the regenerative braking should help further with gas consumption.

What’s most impressive to us is the completely DIY hybrid control unit that takes some simple inputs (wheel speed and throttle position) and controls regenerative braking, the gas engine’s throttle, etc. Since the hybrid control system is currently under development, there’s even a button to switch between different trial algorithms on the fly. Very cool!

Oh yeah, and [Alex] points out the fire extinguisher on-board. He had occasion to use it for his hybrid motorcycle V1. Safety first!

Simple POV Bike Effects with WS2811 Strips

[Andrew] wrote in with a new take on the classic persistence of vision bike spoke hack. While many of these POV setups use custom PCBs and discrete LEDs, [Andrew]’s design uses readily available off-the-shelf components: WS2811 LED strips, an Arduino, an Invensense IMU breakout board, and some small LiPo batteries.

[Andrew] also implemented a clever method of controlling his lights. His code detects when the rider taps the brakes in certain patterns, which allows changing between different light patterns. He does note that this method isn’t incredibly reliable due to some issues with his IMU, so now he senses when the rider taps on the handlebars as well.

If you want to build your own bike POV setup, you’re in luck. [Andrew] wrote up detailed instructions that outline the entire build process. He also provides links to sources for each part to make building your own setup even easier. His design is pretty affordable too, coming in at just under $50 per wheel. Check out a video of [Andrew]’s setup in action after the break.

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[Harrison Krix’s] Marriott Chariot

Atlanta’s Mini Maker Faire had plenty of booths to keep visitors busy, but the largest spectacle by far was the racetrack smack-dab in the middle, and you’d be hard pressed to find a more eye-catching contender than [Harrison Krix’s] vehicle: the Marriott Chariot.

If [Krix’s] name looks familiar, that’s because he’s the master artisan behind Volpin Props, and is responsible for such favorites as the Futurama Holophonor replica and the Daft Punk helmet. (Actually, he made the other one, too).

The Chariot is yet another competitor in the Power Racing Series, an event that keeps popping up here on Hackaday. [Krix] drew inspiration from this Jeep build we featured earlier in the summer, and went to work sourcing an old plastic body to get started. The frame is 16 gauge square tubing, with a custom motor mount machined from 3/16 steel. After welding the chassis together, [Krix] chopped up a small bicycle to snag its head tube and headset bearings. A pair of sealed lead acid batteries fit horizontally in the frame, providing a slightly lower center of gravity.

[Krix] has a keen eye for precision and his build journal shows each step of his meticulous process. But, you ask, why “Marriott Chariot?” and why does the car look like someone threw up a kaleidoscope? Read on beyond the break, dear reader, to learn the Chariot’s origin and to see a video of it winding around the track.

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