BaBot: Build Your Own Ball-Balancing Robot

Acrylic Sheet

Laser cutter (generic)

3D printer filament (PLA)

Arduino IDE 2.0 (beta)

IR Phototransistor

Wide-angle IR led

PCBWay Custom PCB

ATMega32u4

CD74HC4067 16-Kanal Analog Digital Multiplexer

DC Power supply - 5V 10A

[HB] Micro Servo MG90

<html><body>BaBot began as a high school project in 2018, initially using a computer and overhead camera for ball tracking. After several iterations, including a Raspberry Pi version with a camera beneath a transparent plate, I developed a more efficient design. The current version utilizes IR sensors and an ATmega32U4 microcontroller, resulting in a more compact, affordable, and user-friendly robot. <h3>⚙️ How It Works</h3><ol><li>When you place a ball on BaBot's transparent plate, a fascinating sequence of events unfolds:​ </li><li>Infrared Detection: Beneath the plate lies a secondary printed circuit board (PCB) embedded with numerous infrared (IR) LEDs and phototransistors. These IR LEDs emit light upward, which reflects off the bottom of the ball and is captured by the phototransistors. This setup allows BaBot to accurately determine the ball's position on the plate in real-time.​ </li><li>Data Processing: The position data collected by the secondary PCB is transmitted to the main PCB, which houses an ATmega32U4 microcontroller, similar to the one found in the Arduino Leonardo. This microcontroller processes the data using a PID (Proportional-Integral-Derivative) algorithm. The PID algorithm calculates the difference between the ball's current position and the desired target position (typically the center of the plate).​ </li><li>Calculating Plate Tilt: To correct the ball's position, BaBot must tilt the plate appropriately. This involves solving inverse kinematics equations to determine the precise angles needed for each of the three servo motors to achieve the desired tilt.​ </li><li>Actuating Movement: The calculated angles are sent to the servo motors, each connected to articulated arms ending in metallic balls. These balls serve as joints and are magnetically attached to the underside of the plate, allowing smooth and responsive movement.​ </li><li>Continuous Feedback Loop: After adjusting the plate's orientation, the system re-measures the ball's position, and the process repeats. This feedback loop operates approximately 30 times per second, ensuring the ball remains balanced on the plate.​ </li></ol>This seamless integration of sensors, control algorithms, and mechanical components enables <a href="https://www.ba-bot.com/">BaBot </a>to perform real-time ball balancing, offering an engaging demonstration of robotics and control systems in action. <figure><img src="https://projects.arduinocontent.cc/3f02bc0f-f58f-45bb-ba7a-436275d819b8.jpg"/><figcaption></figcaption></figure> <h3>🛠️ Assembly Instructions</h3><li>Assembling BaBot is straightforward, thanks to its modular design. Here's how you can bring your ball-balancing robot to life:​ </li><li>Assemble the Arms: Begin by constructing the robot's arms. These components are crucial for the movement and balance of the platform.​ </li><li>Attach Arms to Servos: Securely screw the assembled arms onto the servo motors. Ensure they are firmly attached to handle the dynamic movements during operation.​ </li><li>Mount Servos into the 3D-Printed Base: Place each servo motor into its designated slot within the 3D-printed base. The base is designed to accommodate the servos snugly, providing a stable foundation.​ </li><li>Connect Servos to the Main PCB: Using the provided connectors, plug each servo motor into the main printed circuit board (PCB). This board serves as the central hub for controlling the servos.​ </li><li>Secure the PCB onto the Base: Align the main PCB with the mounting points on the base and screw it in place. This ensures that the PCB remains stationary during the robot's operation.​ </li><li>Attach the Flat Cable to the Main PCB: Connect one end of the flat ribbon cable to the corresponding port on the main PCB. This cable will link the main PCB to the secondary PCB, facilitating communication between components.​ </li><li>Assemble the Secondary PCB with the PMMA Plate: Mount the secondary PCB onto the transparent PMMA (Polymethyl methacrylate) plate. This plate acts as the surface on which the ball balances and is integral to the robot's functionality.​ </li><li>Connect the Flat Cable to the Secondary PCB and Attach Using Magnetic Balls: Plug the other end of the flat cable into the secondary PCB. Then, align the PMMA plate with the base and secure it using the magnetic balls provided. These magnets allow for easy attachment and detachment, simplifying maintenance and adjustments.​ </li><li>For those interested in a ready-to-assemble kit, complete with all necessary components and detailed instructions, feel free to visit <a href="https://www.ba-bot.com/">undefined </a></li> <figure><img src="https://projects.arduinocontent.cc/24b49e1c-d681-4f3a-8b6e-e2bf3c818bab.gif"/><figcaption>Assembly</figcaption></figure> <figure><img src="https://projects.arduinocontent.cc/0425c005-7d83-4adc-aad4-4b0dfd93340a.gif"/><figcaption>Ball Tracking</figcaption></figure> <figure><img src="https://projects.arduinocontent.cc/34560fe6-15e9-4fa2-aa8d-3896c298b6b9.jpg"/><figcaption>Main custom PCB</figcaption></figure> <figure><img src="https://projects.arduinocontent.cc/7bcd83b5-439e-47eb-9588-8d164dc38212.jpg"/><figcaption>Secondary custom PCB</figcaption></figure><h3>Where to Get Your BaBot</h3><a href="https://vimeo.com/143536097"> </a><a href="https://www.ba-bot.com/">BaBot </a>offers a hands-on experience in building and understanding a real-time control system. Its open-source design encourages experimentation and learning, making it an excellent project for both beginners and experienced makers.​ For those interested in exploring BaBot further or obtaining a kit, more information is available at <a href="https://www.ba-bot.com/">ba-bot.com </a>.​ Pre-orders are currently open, and production will commence once 100 pre-orders are reached. ​ Whether you're a teacher seeking an engaging classroom project, a student eager to delve into robotics, or simply someone who appreciates innovative gadgets, BaBot is designed to captivate and educate.​ No prior experience is necessary, just a curious mind and the enthusiasm to build something remarkable.​ Secure your <a href="https://www.ba-bot.com/">BaBot </a>kit today and embark on a journey into the fascinating world of robotics. </body></html>

BaBot

BaBot: Build Your Own Ball-Balancing Robot

BaBot is a compact, open-source robot that balances a ball in real-time using an array of infrared (IR) sensors and an ATmega32U4 microcontroller.