Projects / Beam Balancer
Beam Balancer
Took a 1-D ball balancer from linkage design to working firmware in two weeks.
Projects / Beam Balancer
Took a 1-D ball balancer from linkage design to working firmware in two weeks.
A ball rolls on a beam tilted by a servo through a four-bar linkage. Link lengths were chosen from 2-D constraints for mechanical advantage and a compact footprint. An OpenCV tracker measures ball position and a tuned controller commands the servo through embedded C firmware.
1-D ball balancing before the 2-D Stewart platform. I went from choosing the ideal link lengths to 3D modelling the mechanism to final code in about two weeks.