Robofest 4.0 - Two Wheeled Self Balancing Robot

Overview

This repository contains all the documentation, design files, and implementation details of a Two-Wheeled Self-Balancing Robot developed by students of IIT Bhubaneswar as part of Robofest 4.0.

The robot operates on the principle of an inverted pendulum, achieving dynamic stability using sensors, real-time data processing, and a PID control system. It combines self-balancing capabilities with line-following functionality, and features a payload-carrying structure.

Table of Contents

• Overview
• Robot Description
• Salient Features
• Mechanical Design
• Electronics and Control
• Softwares Used
• Block Diagrams
• Applications
• Team

Robot Description

The robot uses two NEMA 23 stepper motors driven by a PID controller implemented on an Arduino Nano. An MPU-6050 sensor detects the tilt and angular velocity. The robot balances itself by calculating real-time error values and adjusting motor outputs accordingly.

Salient Features

• Self-Balancing using MPU-6050 and PID control
• Payload capacity of ~1kg
• Line-following using IR sensors
• Adjustable height using threaded rods
• Symmetric aluminum frame for better stability

Mechanical Design

• 3-layer structure with aluminum plates (Top, Middle, Bottom)
• Fully threaded rods for height adjustment
• Custom motor mount flanges
• Center of gravity optimized for balance

Electronics and Control

• Microcontroller: Arduino Nano
• Sensors: MPU-6050, IR Sensors
• Actuators: NEMA 23/17 Stepper Motors with TB6600/A4988 drivers
• Protection: Diodes, resistors, and capacitors for circuit stability

Softwares Used

• Arduino IDE: PID logic, sensor reading, and motor control
• SolidWorks: CAD design of chassis
• MATLAB: PID tuning and simulation
• KiCad & Fritzing: PCB and circuit design
• VS Code (Python + OpenCV): Code Editor
• ANSYS: Stress and vibration analysis

Block Diagrams

Electronics Block Diagram

Flowchart

Applications

• Autonomous delivery systems
• Line-following warehouse bots
• Educational robotics
• Assistive mobility devices
• Smart surveillance platforms

Team

Team Members:

• Ayush Gupta
• Divya Kumar
• Jiya Chakraborty
• Rachit Jain
• Vivek Singh

Mentor: Dr. Satyanarayan Panigrahi, Associate Professor, School of Mechanical Sciences

Institute: Indian Institute of Technology, Bhubaneswar

For full details, refer to the REPORT.pdf in the repository.