Susmitha.B, et. al.

International Journal of Engineering Research and Applications

www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

RESEARCH ARTICLE OPEN ACCESS

Design and Fabrication of Self Balancing Bike Using Gyroscopic

Effect
Susmitha.B1, Harish.P 2, Ashok.V3, Chandrasekhar.M4
1
Assisstant Professor, Department of Mechanical Engineering, Andhra Loyola Institute of Engineering and
Technology, Vijayawada
2, 3,4
Student, Department of Mechanical Engineering, Andhra Loyola Institute of Engineering and Technology,
Vijayawada

ABSTRACT:
Balancing a two-wheeled vehicle plays an important role in all transportation system and it is always been a
challenging task. The study of kinematics concept helps to understand the subject of Balancing of objects or
bodies under static and dynamic condition. The motion dynamics of a two wheeler vehicle is very different from
other vehicles. So many experiments and calculations conclude that a two wheeler vehicle stays upright when it
is steered to maintain its center of mass over its wheels. Either the rider steers to balance the vehicle or the
vehicle itself balances above a definite velocity. Factors such as gyroscopic effect, centre of mass, mass
distribution contribute in self-stability of bicycle. The dynamic stabilization of a two-wheeled vehicle requires
that a torque acting on the vehicle naturally be neutralized by a torque produced within the vehicle by a
gyroscope.
We design and fabricated a self balancing bike with gyroscopic effect .The construction of this bike includes
design calculations, modeling in CATIA, and a fabrication process in which accelerometer sensor is used to
stabilize vehicle . Arduino and controller combination is used to give continuously commands to vehicle.
Keywords : Kinematics, Sensor, Controller, Static, Dynamic
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Date of Submission: 15-08-2020 Date of Acceptance: 01-09-2020
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I. INTRODUCTION II.LITERATURE REVIEW

In the present generation motor bike is one Self balancing bike is one of the most
of the good choice to reach a destination in a short awaiting technologies the world right now. Some
time with in a economic level of the human being. of companies like Honda, Harley Davidson had
There are so many advanced features in bikes are already shown their success in this concept.
invented to avoid accidents . When the man got an Recently Harley Davidson
accident on road side elements there was a more Company files patent for the self
probability to loss his/her life. Most of time rider balancing technology. They said gyroscopes in the
losses control to get stability when he rides the vehicle disengage beyond 3mph (4.8kph) in order
bike. To avoid all these limitations of the bike a to turn a vehicle at high speeds where gyroscope
self balancing bike can helpful in the sense of effect will create automatically. So we don't need to
safety, vehicle damage. The self-balancing bikes operate gyroscopes specially; gyroscopes wheels
works on the principle of “Gyroscopic effect”. And in the vehicle rotate with the electric motor which
it’s applications had been using in airplanes and spins between 10000-20000 r.p.m.The whole
ships from many decades. In case of bikes when it system will be enclosed with in Harley’s Tour pak
tilts left or right, it induces a reactive Gyroscopic top case. You can remove this case when you no
couple in the opposite direction. So that vehicle longer need if much like training wheels on a
balances by this gyroscopic effect. In previous bicycle.
research work to balance two wheeler they used Patents are many for self balancing bikes
principle of pendulum, force sensors and give because different companies use different
power by electricity. In our project which technology some of them uses servo motor and
accelerometer sensor is used to stabilize vehicle. some people uses D.C motor. Some people uses
Arduino and controller combination is used to give only gyro sensor and some people uses both gyro
instructions time to time for continuous movement and accelerometer sensor.
of the vehicle.

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Susmitha.B, et. al. International Journal of Engineering Research and Applications
www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

Author [1] has designed a two wheeler self 3) Stepper motor controller.
balancing which aims to balance the two wheeler
against any impact and in a static condition they
used two heavy rotation disks to compensate felt of
two wheeler.
Author [2] stated that “there are several ways in
order to design an efficient self balancing bicycle
by using control moment gyroscope and mass
balancing steering control and reaction wheel usage
of CMG gives great effect”.
Author [3] stated that “the vehicle is powered by a
battery source. The motor DC 24v,250w (or)
500w,high torque whose speed will be controlled
by a custom designed circuit uses sensor like IMU, Fig 3.1: Motor Controller
which mounts accelerometer and gyroscope is used
to monitor the posture of the person ”. 3.4 Accelerometer Sensor:
Author [4] stated that “the rotation of the disc An Accelerometer is a TRANSDUCER that
leads to the production of gyroscopic effect when is used to measure the physical or measurable
the vehicle loses there balance reactive gyroscopic acceleration that is made by an object. Co-ordinate
couple maintains stability”. acceleration cannot be measured using this device.
Author [5] stated that “CGM and PD controller An accelerometer is an electro-mechanical device
has short response time to balance and an effective that is used to measure the specific force of an
activator as an torque amplifying device. Various object, a force obtained due to the phenomenon of
simulations done and programmed in lab view weight exerted by an object that is kept in the
results showed that PID controller not is unable to frame of reference of the accelerometer. In the case
control and unstable”. of static acceleration, the device is mainly used to
find the degrees at which an object is tilted with
respect to the ground. In dynamic acceleration, the
III. MAIN COMPONENTS
movement of the object can be foreseen.
Main components that are used in the proposed
model are
1) 12-Volt Motor
2) Flywheel
3) L298N Motor Controller
4) Gyroscopic Sensor
5) UNO Arduino

3.1 12-Volt Motor:

A DC Motor of 4-12 volts capacity is used
and is used as power source to the gyroscopic
discs. They are placed with the help of U-Shaped Fig 3.2: Accelerometer sensor
frame

3.2 Flywheel:
The flywheel is used to produce the
gyroscopic effect. The flywheel is attached to the
motor whose sole purpose is to rotate the flywheel
as per the required gyroscopic effect

3.3 L298N Motor Controller:

Motor controller is a intermediate device acts
between the motors, batteries, robots
microcontroller. Motor torque depends on the
supplied current.
There are only 3types of motor controllers they are Fig 3.3: Axis Accelerometer
1) Brushed stepped motor controller.
2) Servo motor controller.

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Susmitha.B, et. al. International Journal of Engineering Research and Applications
www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

3.5 Arduino:
Aurdino is an open-source electronics
platform based on easy-to-use hardware and
software. Of Aurdino boards are able to read
inputs – light on a sensor, a finger on a button, or a
Twitter message – and turn it into an output –
activating a motor, turning on an LED, publishing
something online.
The Ardino board is connected to a
computer via USB, where it connects with
the Arduino development environment (IDE). The
user writes the Arduino code in the IDE, sssand
then uploads it to the microcontroller which
executes the code, interacting with inputs and
outputs such as sensors, motors, and lights.

V. DESIGN OF MODEL:

Fig 3.4: Arduino Compon Dimensi Diamete voltage Weight

ents ons(cm) r(mm) capacity (gms)
IV. WORKING PROCESS OF MODEL Chasiss 50x18x3 ------- ------- 400
The sensors like accelerometer, gyro base
sensors are fitted to the chassis of the vehicle, frame
which detects the correct position of the vehicle. Upper 25x18x2 ------- ------- 205
Whenever the body tilts from its vertical position frame 5
sensors reads the acceleration, angle of the body Fly 20 ------- 400
accordingly to that data torque generates. The wheel
output of sensor sent to arduino. Arduino cheeks in Battery 15x6x8 ------- 12V -------
which direction the body tilted according to that Wheels 26 ------- 1170
instructions will pass out to the controller. The 12 Volt 350
-------
instruction for tilting left is to rotate the motor shaft D.C.
in clockwise, if a vice versa. Controller controls the motor
motor unit to maintain its r.p.m by taking power Table: 5.1 Specifications of components
supply from battery. Electric motors have the
greatest torque at start. 5.1 Design Calculations:
There is a wheel or disk connected to a Mass of the system M = 2.75 kg
motor which is mounted on a gimble. When the Distance/Location of center of mass (m) from the
vehicle is unstable gimble movement changes. In ground
order to get over position back Hub-motor will
create gyroscopic effect, there by gimbles again h = 0.17 (m)
come to its original position. When angle of Tilt = 150
Then Torque induced = m g h sin θ
=2.75*9.81*0.17*sin150
= 2.98 kg -m2/s2
∴ Reactive Gyroscopic Torque = m g h sin θ
(opposite Direction)
τ’ = I ω ωp
⇒ m g h sinθ = I ω ωp
⇒ωp = m g h sinθ / I ω
τ’=Reactive gyroscopic couple
I = Moment of inertia of disc

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Susmitha.B, et. al. International Journal of Engineering Research and Applications
www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

ω= Angular Velocity Y= Length from the ground

ωp= Precessional Angular Velocity M= Bending moment
Thus, Maximum allowable bending stess of aluminium =
Centre of mass from the ground, 300 MPA
17 MPA<300 MPA(So the design is safe.)
h= 0.17 m
Moment of inertia of the disc, 5.1.2 Design of upper frame column:
Number of columns = 4
I=mr2/2 Cross – sectional area of frame = 189 mm2
compressive strength(σc) = force/area
=0.4*0.1*0.1 /2 kg-m2 = (350+400+50)*10-3*9.81/189
Speed of Disc, = 0.41/4 MPA
= 0.1025 MPA= 102.5 KPA
N =200rpm The maximum allowable tensile strength of
Angular Speed of Disc, ω= 2*π*N/60 aluminium = 300 MPA
rad/sec Since 102.5 KPA < 300 MPA(So the design is
safe.)
= 2* π *200/60
5.1.3 Design of motor shaft:
= 21.9 rad/sec Motor specifications:
Since We Know That Rated speed (N) = 300 RPM
mghsinθ = Iωωp Power (P) = 60 W
The vehicle is designed for the maximum tilt We know that
angle= 1 Power (P) = 2*π*N*T/60
Therefore the highest precision speed of 60 = 2*π*300*T/60
the disc is ωp= Torque (T) = 1.9 N-M
mghsinθ/Iω=2.98/(0.002*10.47)rad/sec We know that
=67.91rad/sec Torque (T) = π/16*(τ*d3)
So Highest Required Gyroscopic Torque τ’= Iωω p Shear stress (τ) = 1.9*16*/(π*63)
= 21.94*67.91*0.002kg–m2/sec2 = 0.044 MPA
= 2.97 kg-m2/sec2 = 44 KPA
Shear stress = 0.6*Tensile strength of Al =
5.1.1 Design of wheel: 0.6*400
=240 MPA
Radius of wheel (R) = 13 cm Since 44 KPA < 240 MPA
Centre of hole = 10 mm So the shaft design is safe.
Width of hub (B) = 60 cm 5.1.4. Design of Gimble Arm
Load (P) =2.8 Kg Number of arms = 2
Thickness of Hub (T)=3 mm Load (P) = load of motor + load of disc
For tensile strength: = (350+450)*9.81*10-3
We know that =8.8 N
Tensile stress = force/area we know that
=F/(2*π*r*t*B) σc= load/area
= 8.8/(30*3*2)
=2.8*9.81/(2*π*5*3*60) = 0.097 MPA
= 0.048 MPA
=4.86*10-3MPA = 48 KPA
The maximum allowable compression
=4.86 KPA strength is σc = 400 MP
Maximum allowable Tensile strength of poly Since 48 KPA < 400 MPA
ethylene = 15 M.P.A So the design of arm is safe.
Since 4.86 < 15 MPA (So design of wheel is safe)
For bending strength of chasis:
σb =MY/I VI. MODELING OF VEHICLE:
= (6.6*250-1.95*250)*30/2022 The modeling of vehicle is done in
=17 MPA CATIA software with v5 version. Using CATIA
Where I= Moment of inertia = 2022 mm4

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Susmitha.B, et. al. International Journal of Engineering Research and Applications
www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

individual parts are modeled using component

dimensions and finally all the parts are assembled.

Fig. 6.4 Circular Disc modeling

Fig: 6.1 Main frame modeling .

Fig. 6.2 Axle modeling Fig. 6.5 Assembled of Parts of vehicle

VII. FABRICATION OF SELF

BALANCED VEHICLE:
In fabrication process Aluminium L-
angulers are taken for the whole frame, and for u
frame gimble we used flats .Various electronic kit
is kept on the base frame for gyroscopic effect
.Finally wheels and remaining small aprts are
attached to complete fabrication of self balanced
bike..

Fig. 6.3 Wheel modeling

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Susmitha.B, et. al. International Journal of Engineering Research and Applications
www.ijera.com
ISSN: 2248-9622, Vol. 10, Issue 8, (Series-IV) August 2020, pp. 33-38

speed of 2500 rpm. The theoretical calculation of

the speed and experimental results were compared
and studied. The experimental results were found
to be in close proximity to that of the theoretical
calculations. The gyroscopic effect created by the
flywheel rotating at 2500 rpm or above generates
enough angular momentum to stabilize the two
wheeler prototype.

REFERENCES:
[1]. Sheikh Mohibul Islam Rumi, I.S.M.
Shanamul Islam “System Design of a two
wheeler self-balanced Vehicle ”IEEE
publisher ,jan 2015
[2]. N.Tamaldin, H.I.M.Yusof,M.”Design of self
Fig:6.1 Assmebling of indivisual parts of bike self balancing bike” International journal of
balanced bike Robotics &Automation .Malaysia 2017
[3]. A.Geetha,VishwanathKannan,”Design and
Development of a Self Balancing Mono
Wheel Electric Vehicle, MALAD-
INDIA,2018,IOSRJEN.
[4]. Pallav Gogoi, ManishNath, “Design and
Fabrication of Self Balancing Two Wheeler
Vehicle Using Gyroscope” Internation
journal of emerging technologies ,ASSAM-
INDIA,2017.
[5]. Pom Yuan Lam” Gyroscopic Stabilization of
a Kid-Size Bicycle”,IEEE journal
SINGAPORE,2011

Fig:6.1 Fabricated self balanced bike

VIII. CONCLUSIONS
A self-stabilizing gyroscopic two wheeler
was designed and fabricated. The model is able to
stabilize itself under 2500rpm supplied by the DC
Motor to the flywheel. In this project suitable
frameworks were taken into account. The most
suitable frame is that of a single axis on the ends of
which are the wheels and perpendicular to this is
the spin of the flywheel. This was found to be the
most optimum design in terms of vibration and
effectiveness. The design of the gyroscopic
stabilized two-wheeler was made .The area where
the most amount of stress developed was found to
be around the axis of rotation of the flywheel. It
was also found that the flywheel mounted
perpendicular to the axis of rotation of the moving
wheels provides the required gyroscopic action to
maintain a plane of balance. Experimental results
have shown that when the flywheel achieves a

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