Mechanically Stable Monowheel
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- čas přidán 10. 12. 2023
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I previously built a small MonoWheel which is a single wheel that runs along with one motor driving it. It balances on its edge like rolling a coin. Monowheels have been built large enough for people to ride in, which looks like a fun project.
My monowheel had some stability control which measured the angle of the internals and modified the motor speed. This meant that the internals always remained at one angle instead of oscillating between driving up the inside of the wheel and falling down again, which is what happens if you just run the motor at a constant speed.
But is there an easier way to make a fun radio controlled vehicle which is inherently stable?
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Ahh yes, the famous two-wheeled monowheel... 😂
You and me Big Wheel, we could rule this city, or just... fight to the death!
Stereo Wheel would fit, especially with the independent steering and suspension
Yeah not really a monowheel now is it.
Two-wheeled or Twheeled
My thoughts exactly. :D
A monowheel with.... two wheels?
Exactly my thoughts 😅, doenst make it any less cool though!
@@CmdrMartinThompsonIt kinda does. It would be much cooler if it had a more accurate name.
If you consider the air between both wheels to be a part of the contraption
@@davidaugustofc2574 James' justification for calling this thing a "monowheel" is that the two sections are identical and not mirrored, so therefore the two parts are actually a single part.
@@Eidolon1andOnly yeah but each side is independently driven so it's two separate wheels on a tiltable chassis
Thats two wheels, James.
Aren't these technically two different wheels, making it a bicycle or a Segway type vehicle? Really cool nonetheless!
Diwheel is what it's called
how about a 2-wheel-pendulum (2-pendu)
@@TarenGarondDicycle
@@XSpamDragonX Yeah that is an alternative name, but I think it is usually called Diwheel when the whole contraption is within the borders of the wheel(Especially when not powered by a human).
they behave more like tank tracks.
It turned out not to be a monowheel, but a free interpretation of a tracked chassis.
Получилось ведь не моноколесо, а вольная интерпритация гусеничного шасси.
It’s like a mechanical flat tire, it’s very pretty!
Try feet with TPU on the inner edge, and slippery plastic on the outer edge. That way when it leans, it engages extra grip on the driven side but not on the pivot side. That might work, albeit only on slippy floors, and it might slide out of control if you turn without leaning.
I do really like the look and function of the pedwheels, they look so steampunky.
Had a similar thought, thought thought of TPU on the outer edge
How is this man able to pump out so many high quality projects? Thank you for all this.
Ah yes, 'high quality'...
Having lots of 3D printers!
Lots of sponsors is how
@@Zveebolots of 3d printers makes is possible but he is still doing a lot of design, coding, integration, and video production for each weekly video
@@computermdms Sure, but with the huge amount of 3D printing he needs, having multiple fast printers is pretty essential if not to be a bottleneck.
I think you would get better climbing performance if the center of mass was as low down as possible. Also, the swivel mechanism doesn't work for turning on spot but would help reduce slipping (and therefore wear to road surface) for regular turns as the outside wheel track is longer when turning with two parallel wheels
Almost like a tank.....
I wonder how it turns if it leans slightly out of the turn, rather than into the turn? It would move the centre of gravity over the faster wheel, I wonder what effect that might have. Awesome work, the jumping motion as it turns looks super cool and gives it a unique Star Wars quirky robot personality :)
I'd probably tip over more easily
I was wondering this myself. Mikosoft might be right, but the whole point of these projects is to try things and see what happens.
The tip over comment might be correct, there's no indication the faster wheel has a lack of grip, so increasing the normal force over it will have no effect.
Karts benefit from you leaning to the outside because the inside wheel is always sliding, it contributes nothing to cornering.
you should do the maths to make the tilt axis change the speeds of the inner and outer wheel automatically, so you can just steer with the tilt stick and forward. Alternatively, set the tilt amount based on the differential speed of the motors automatically. Either way, it reduces the number of things to adjust independently. Manually controlling both speeds and tilt at the same time seems too much to handle smoothly.
Having it lean out of a turn might also be beneficial, as it puts more of the weight over the faster wheel, hopefully allowing the inner one to slip more easily.
now make a vehicle with infinite wheels
And then add one more for good measure
RIP 3d filament sponsors
Another clever and fun project! I wish you'd make videos where you live-streamed your design/CAD process and talk through your designs as you create them.
That would reveal his dark secret, that he is actually a sentient CAD program in a trench coat.
That would be awesome +1
Always impressed with the mechanical engineering side of your builds,gives me inspiration and ideas for my own hobby builds
The legs stuck out spinning on the spot is caused by the legs binding from lateral forces im almost sure. Could be fixed with lubrication of the slot or with rubber bands holding the legs in while theyre coming down so that way the guide pushes them out, rather than relying on its own weight to push the feet back in against the friction of the binding.
I also would have the rods move in a square shape instead of a circle with a tilt. So that each side is similar to the one on the ground. In this case it wouldn't matter if it overdrives on one side. The wheel would just snap to the next square face.
The left/right leaning should occur automatically via gyro sensor determining if it's falling/leaning one way or the other, to keep it level. Another idea is to have the legged wheels canted, so the tops of the wheels are closer than the bottoms, to make it more stable by default.
Perhaps adding more weight (that maybe counter-shifts to add friction to the outer wheel as you turn) could help with the leaning, and maybe having the wheels angle toward one another near the top slightly could add some overall balance. Just some theories though.
What about a guide to force the sliders to lift when in the flat portion of the circle? Bolt it to the center section, and have it reach around the outside of the sliders. Also, to avoid the problem of the feet having too much friction, replace them with bearings. If you can perfect it, I would love to see a ridable full size version. Perhaps a collaboration with Furze or Miranda?
Yeah, I assumed he had those follower bearings riding in a track at first until the stated problem of them not following the cam. That would make a lot more sense.
James just built a biblically accurate angel lol, Im almost expecting that wheel to start saying "be not afraid" randomly
This is crazy. Very Impressed with your skills and engineering here! Next level for real.
I'm very impressed by the amount of work, engineering, and time you put into these projects. It's always a pleasure to watch your videos. Thank you for doing what you do!
it looks surprisingly organic! like it would be a great blueprint for a slime looking robot that has a flat bottom. the move where the flat part goes around in a circle looks like a little emote! the leaning gives it quite a lot of personality too; show this to Adam Savage and his puppeteering mates, and he might just know how to give it life!
I wonder how it would control if you had the turning command control a mixture of the lean and differential wheel velocity. Probably not useful for sharp low speed turns but could work for smooth higher speed corners.
Also I had a wild idea that you could make a large scale version where you are seated in the space in the centre
+1 ....or just fed from a small acceleromator?
Ya or could use the accelerometer to blend between a low speed tank like turn and high speed lean turn?
I appreciate showing the trial and error. Thank you for showing the real process of development.
That is awesome! Probably the coolest idea on your channel for a while! Would love to see you put a weighted balancing wheel in it so that the middle section doesn't turn around and gets stuck in the grass. And then I would love to see that thing build in real size...plus you can make it a bit wider for more stability
Seeing a full sized version would be amazing. Awesome content man
Really cool project ! hats off to you man ! Thanks for bringing such things to internet
About 20 years ago someone asked me to build a self-returning ball. The design was like a spherical version of this but with actuators where you have legs. That is a lot of actuators! Whilst your monowheel legs make it stable, they resist movement. The actuators deform the surface to push the ball along. My ball never returned.
@9:40 Mind blown how well that works with passive legs! You make it look easy!
Tilting would be good for high speed steering with a small difference in speed for the 2 sides of the monowheel
It's really cool when you show us the various fails of the awesome designs you make. Too many makers (well.. I'd call you a "Legit Hard-core Inventor".. but I digress...) only show how the creation works.. and learning from success sucks... Failure, now that's how you really learn, and you totally nail that education (when failure does happen to happen) in a way that resonates with both my inner engineer and artist! Like it was me doing/learning from it with my own hands and brain.. sooo cool!
You rock!
to stop the inside wheel mech spinning when stuck have auto ratchet lock into the gear wheel, you can print notches on the spacer, as soon as it detects it will be spinning, a peg shoots out and engages with a notch, stopping the spinning and allowing momentum and inertia to force the carriage forward. If you are clever you do not even need a solenoid or a motor to do this, just a counterweight and lever mech can do this, love this design,
You should make a drivable version of this. Could be some innovation in that
I think it might be quite high friction
@@jamesbruton Oh wow didn't expect you to reply. Nice to meet you, and I want to say that I find you inspiring.♥️
We need more engineers or robotic builders like you 🫡
It's worth remembering that most actual tanks can't turn on the spot - the lateral forces cause it to throw a track, so they're mechanically inhibited from even trying.
I'd be very curious to see what happened if you took this and put a tall body on top of it, something about 5 foot or so. Kind of along the lines of the waitress droids in Star Wars.
What do you mean tanks can't turn on the spot? 😂
@@alexshepherd4469 Not sure if you're being serious, but just in case you are: most of the tanks that have existed through the last century would have their tracks come off the wheels if they tried to neutral steer (ie, turn on the spot). So they couldn't. In fact, a lot of tanks didn't even have differential drive - they just braked the track on the side they were trying to turn towards.
Now, a *modern* MBT can almost certainly do a neutral steer. But it's mechanically complicated and, if I am remembering The Cheiftain's lessons correctly, still strongly discouraged.
Always fun videos. Thanks for the entertainment. This guys good!
What delightful projects you make!
Super cool. Since the center stays put until it’s stuck, perhaps run a couple bars from the center over the top so if it does get stuck, the top bars would come down and around from the top and give it a push forwards by running it backwards.
Like a dragster wheelie bar
This is awesome! just needs more mass at the bottom. I can see this design functionally becoming a round wheel at high speed.
This could have use as a robot vehicle I think, running on roads and paths looks really good. Nice work!
Goes to show that the difference between a cool mechanical oddity and a practical mechanical device is 95% software. Things like the rotation could be fixed by damping the torque when in that mode for example. I love the mechanical ingenuity James puts on display, and it's great stuff! Many, many companies and inventors have come up with similar exercises, but the real hard part is precise algorithmic control, which is why we rarely see concepts like this in many practical applications.
I think the next revolution in DIY prototyping ( the last one being able to print and iterate your own parts and plans with a 3D printer) is AI assistance in precision control in the presence of external variables, and the code to implement such algorithms in real time, all at the access of someone who would otherwise not know how to code.
A ride in a full size version of that monowheel will definitely give the best merry go round experience ever😁😅😅
A monowheel with two wheels - you're a genius! 🤣
But man, I'm so impressed by your engineering skills! I would even say you're a genius!
I really like that one! It's oddly beautiful.
Can we take a moment to once again marvel at how brilliant James must be to design each of these from top to bottom, plus how diligent he must be in piecing them all together, with a special nod to how great his narration is?
That colour scheme…the first one with the white feet looks like one of Eggman’s creations! Add a small green and blue part and it would look like E102 Gamma!!
The leaning will look awesome you just need to use the same concepts as for cars.
Add a bit of mixing from the leaning channel to both motors and steer by only using the leaning stick!
It should look awesome and turn much better when you are not trying to do such a small turning circle.
Where the guide exists in the inner part of the wheel where the point of contact is on the ground, you could add more flexibility by adding an airbag style system to adjust the amount of stiffness or pressure the wheel can absorb on the ground
You could do some sort of bungie per leg on the wheels that way no matter the speed or orientation they’ll still fit into the gap rather than be gravity based. Love the design! Keep up the good work!
I really liked this concept , thumbs up
Would love to see a full size version of the second design, large enough to sit inside of.
the wobbly dance would make a wonderful Star Wars astromech
I have no idea what the application for this could be other than a toy but it looks cool, great work. If you could make the legs a compliant mechanism that is part of the printed wheel you might be able to remove 200 parts
Вероятно лучшим решением будет полукруглая направляющая -- на ровном покрытии пятно касания будет минимальным, в тоже время на неровном покрытии можно будет двигаться как на гусеницах, сглаживая неровности (не застревая в них). Аналогично для торможения подойдет ровная сторона, в то время как для быстрой езды по асфальту -- полукруглая. Как всегда восхитительно-шикарный ролик! Ваш труд и креатив поразителен! СПАСИБО!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! :-)
Really cool! I would switch all the possible weight in a single small point on the bottom part, in order to force it staying stable!
This channel routinely awes me for some reason
Great concept and build! I may suggest to link all the wheel feet by some sort of rubber tyre (or belt) in a way resembling a tank track (or a flat tyre) . That may reduce the lateral forces acting on the sliding legs when offroading. Or you may get rid of the sliders altogether and drive a belt around a "flat tyre" profile with rollers (by means of a pulley inside a loop on the top).
I'd love another video about the controller and how you interface it with so many things.
If you add a tread (similar to a tank) to both of the wheels it might give the friction needed to get out of ditches like you had by gripping the edge of the hole. this would also keep the flat bottom as the tread can be wrapped around and up to make it follow the bearings motion.
im also interested what whould happen if you added more weight to the "drivers seat" and see if that would help with the swivel problem where it tips to far and stops making contact.
Love this thing.. I think the issue is the center of mass. If you could move the center of mass toward the direction you're going and probably bring it lower, I think it would climb and be a bit more stable..
still heckin slick mate, you're the modern da vinci. looking at what you build i can start to imagine the anakin type future garages.
I think if you were to make it ~25% bigger and add a large counterweight to the bottom it would be much better at climbing over obstacles. I wish I had the time and money, you give me so much inspiration to make projects like these
This is pertty epic. I think that if you use springs or a cam to pull the feet inwards it might help with getting stuck in a ditch.
This is a good one. It's adorable!
Very interesting concept! This is my first time seeing one of your videos and I quite enjoyed it.
I wonder how this vehicle would handle with the tips of each leg having a ball on the end that can only rotate sideways? It might be too much work to bother, I just thought it might be interesting.
Someone took the saying “you can’t reinvent the wheel” to heart…
@James Bruton - rather than sliders, maybe using hinges would work better and much less friction... Then can just attach one servo to power it
4 x hinges
4 x bolts
2 x horizontal platforms
Looks awesome 👍🎉
Such a cool concept 😊
Great project!
Looks like a quirky Star Wars android, the front cog could be an eye of some sorts. Very cool project!
I would like to see you put that extra servo to good use in extending an extra wheel at the back. This would greatly help with its offroad capability when needed!
i think it is one of your best looking creation yet. it is like an insect.
Congratulations, you reinvented tank treads
Excellent proof of concept- I wonder if you had any ideas for improving performance in grass? And how well this works in something like sand or maybe mud?
He looks so happy when he turns on the spot!
It looks like some sort of expansion joint fixed to the flat side of the hub, that applies pressure to the "feet" would help.
Cool as always!
I have been waiting for a long time to see if you make a robot that can travel thru pipes.
That looks like a lot of fun to play with. Moving the battery weight lower may help a little, or you could give it a wheelie bar.
Each finger should have spring tension inward so that when there’s a divot, the bottom stays flat.
My thoughts exactly
I think the spinning on the spot is so cute
as an avid offroader you might be on the cusp of something great. Keep at this one
Damn, this got recommended to me quick!
Impressive !!!!!
really wish I could do what you do.
suggestion:
And A center Tail that wrap from strait into a circle (in circle state the cab is allowed to role)
Use tail weight and elongation to control the down force (wheels's weight and traction are the up force) (maybe up-down is more spin cab-wheel).
Was my suggestion useful?
Hey James, a solution for your steering/traction issues is to print the pads with one side in PLA and the other side in TPU. If the TPU side points in, when you lean you will have more traction on the higher side of the monowheel and vice versa.
Use angled bearings to get your pivoting idea to work, like the Timken ones often used for truck wheels. Tilting at that moment puts it out of the bearings plane.
Congratulations! You've reinvented the flat tire.
add a couple of glass domes and you have one of those "orb" vehicles from Jurassic World! Another awesome project James!
It probably wouldn't be practical in any way but a mono wheel with a strong enough gyro to allow a driver to be on a seat mounted off the side of it would be kind of cool...
For overcoming rough terrain, I think you need both: The ability to swing the center of mass to the forward half of the wheel (that you get in the traditional design), AND the bottom staying flat (that you get with this pedrail design).
I think the leaning would add value at speed with the right control. Ideally youd initiate a turn by leaning, and then as the lean angle ramps up, have it followed by a wheel velocity difference in such a manner to follow an arc with a centrifugal force that keeps equal weight on both wheels, given the lean angle. Just varying the lean angle and wheel speed difference independently from one another certainly isnt going to be ideal. I guess that doesnt solve the problem of zero speed turning though. Its always a bit of a hack with tracked vehicles but it turns out particularly jumpy for a tracked vehicles of these proportions apparently.
Pitch the wheels each side at the top should get better stability for turning. good job it’s interesting watching physics in motion. Always learning something new from you
When Tron met Segway. Tanks for the vid! ❤
cam groove to keep the tracks in shape!
This design could be incorporated with hamster ball . Possibly moving outer shell plates
Congratuations you have successfully made a 3D printed flat tire
Could you react the moment of the motors on the body by having one bidirectional propeller sticking out the top? Would probably help and make this thing look even more nuts. Also to stop the legs jumping away from their track maybe add a guide for the bearings on the outside so the bearings are fully constrained to the path. Super cool! Never seen anything like this.
*building monowheel*
*in engineering*
"what if.... we added a 2nd wheel"
would like to see a follow up, with testing if adding mass will help with the "spinning" when it gets stuck on terrain.
for the tilting, you need some sort of actuator to move the center of gravity such that it stays low and in the middle, and doesnt swerve out with the tilt
When it gets stuck, the center rotation must extend something to the surface to reengage traction in such scenarios (But that will need some kind of geering to reverse the direction to get traction in the right direction)
End result reminds me of those wheel enemies in Armoured Core 6. Glad this one is devoid of missiles.
this thing is charming as heck! even with the TPU feet, watching it spin and jump around was like a Disney robot dog or something. I think you are on to something here in terms of a fun toy! Maybe it just needs a bunch of weight in it to keep the central hub in the right orientation. Also you seemed to actually _lose_ friction on the outside wheel when leaning because the feet didn't seem to contact the ground as much as the inside wheel. Cool toy!