Thursday, March 1, 2012

Velociryder V4!

I have all these parts and nothing to velociryde on.

First, we had Velociryder V1.

It actually worked.
Then, we had Velociryder V2 for the Inventure Prize.
Woo waterjet aluminum.
This one worked too!
We kinda had Velociryder V3, ambitious but never completed.
I couldn't find a picture, so here's a render. It didn't work.
Now, we will have Velociryder V4!
With 20% more height!

Giving a good view of the encoders and motors.
From the side, showing the small sprocket for the encoder.

New and improved, with:
  • Digital accelerometer and gyroscope, less analog signals to corrupt!
  • No pivoting rear section whatsoever; strain gauges for steering!
  • Actual skateboard deck to stand on!
  • Overengineered 80/20 frame for no structural failures!
  • PIC24H core for double the speed of an Arduino!
  • Quadrature encoders for real motor control!
  • 5 Ah longpack! (That's one more amp-hour than before)!
A bonus effect of using strain gauges to measure steering is that they can also measure the user's weight. With this and wheel encoder information, I can use actual inverted pendulum state space control, instead of PID.

In the time that I have been not posting updates, I have created a control board, complete with DC regulator, super differential amplifiers for the strain gauges, and sensors.

Ooh, aah. And a logo! The actual size is 3.75" x 1.00"
I have almost all the parts and two weeks to finish to go from computer drawings to Velociryding for a certain event and a certain trip. Including programming. Boy am I hoping my circuit design is correct.

There are still a couple kinks I hope will work itself out. The first is the incredibly wide motors are probably going to hit the ground.
The second is that the strain gauge turning is completely untested. I hope I can get a good enough difference between the weight on the right and left sides to use.

Welp, here goes another build marathon. I thought I was done with them after the Inventure Prize last semester.