Desarrollo de un prototipo estabilizador para el autobalance de bípedos usando un volante de inercia

Abstract

The present project ''DEVELOPMENT OF A PROTOTYPE STABILIZER FOR THE SELF-BALANCING OF BIPEDS USING A FLYWHEEL'', is framed in the fact that there are approximately 684,000 deaths per year, with falls being the second worldwide leading cause of death due to unintentional injuries. In addition, more than 80 percent of these deaths occur in low and middle-income countries. On the other hand, people over 60 years of age are the most affected, with 37.3 million falls annually requiring medical attention and negatively affecting their life quality. An ergonomic device for bipedal has been designed for improving stability and balance, reducing the risk of falls and optimizing movements to maximize precision. This device, which adapts to various terrains, is especially useful for people with reduced mobility or who must stand for long periods of time. The goal of the project is to create a control system that uses elements such as the RS-775, the BTS7960, the MPU-6050 and an Arduino Nano. The MPU-6050, which combines an accelerometer and gyroscope, is essential for measuring acceleration and angular velocity, allowing the device to be oriented. To ensure the quality of the system, the appropriate techniques are used to manufacture the components. The connection of the MPU-6050 to the Arduino Nano and the BTS7960-controlled motors are included in the assembly to ensure proper data transmission. The controller's algorithm modifies the motor output using data from the MPU-6050, allowing for dynamic response to changes in orientation and motion. Finally, the operation of the system is verified and the code is created in Arduino, which guarantees an efficient and easy-to-modify system for future improvements.