The MAV - Mono Axial Vehicle is
a
project aimed at building a 2 wheeled balancing vehicle that can
function as a
human transporter as well as autonomously.
Mechanical
The MAV mono axial vehicle was designed in 3D CAD before being built.
The frame of the MAV is made from standard sized aluminum 6
inch C-channel. The driveshafts are made from 5/8"
stainless
steel rod, and are held in place by bearings mounted directly in the
C-channel as well as snap-rings on the driveshafts. The
pulleys,
shown in blue below, have been replaced with chain drive sprockets with
a 1:1 gear ratio for increased torque (at the cost of lower maximum
speed). The sprockets connect the wheelchair motor
driveshafts
with the driveshafts that are mounted to the wheels. The
motors
are surplus wheelchair motors, and the wheels are BMX bike wheels with
welded inserts in them to bolt them onto the driveshafts. The
open space in the middle of the frame is for the battery pack.
The electronics stack slides into one of the outer C-channel
pieces. The top and bottom and front and back plates are all
made
from 1/4" aluminum plate. Everything is bolted together with
1/4"-20 and 1/4"-28 bolts (coarse and fine threads).
Click here
to download the 3D CAD files in rhino format
(1.4MB)
Click here
to download dimensioned drawings of
the components in jpeg format
[sorry not added yet]
Here is a closeup of the current 1:1 ratio chain drive. The
driveshaft mounted rotary encoder board is partially
visible on
the right side of the picture.
Below are images of the MAV assembly with the motors, sprockets,
wheels, electronics and batteries installed.
The chrome aluminum handlebar shown below broke and has been reattached
and strengthened (and painted black).
Below are rendered images from the 3D CAD design (rendered in rhino cad)
