Design and Building Two-Wheeled Robot

Abstract

Mobile robotics is one of the newest fields of robotic science and lots of its mechanisms and structures in this field need more development. In this paper mathematical equations and important points of Two-Wheeled Robot mechanisms are distributed and a new method needles to any control system with a suitable structure for research and operational field is explained. This robot consists of two wheels with one weight for the balance on each. With changing the weight angle by an electric movement motor, center of gravity is changed and the produced torque propels the wheels. Each wheel and its weight has separate degree of freedom due to independent motors, therefore it is possible to move and maneuver in different directions and slope areas. Afterwards some calculating factors like center of gravity, general movement, geometric factors in propulsion and U turn, mapping and etc, are analyzed.