Electronically Stabilized Monopod

I just uploaded all the files related to this project to a Github repository. The Arduino code is simple and well commented, but the InstaSPIN code is pretty messy. So use that with caution. I'm going to put together a quick guide for setting up the InstaSPIN controller, with the adjustments necessary for this project. The documentation that comes with the InstaSPIN system is voluminous and very hard to follow.

The 3D models are also available. They're quite simple and they aren't really suitable for 3D printing, but they are there for reference. I uploaded them in the default Autodesk Inventor format, as well as in the IGES format.

https://github.com/beak90/ReactionWheelPendulum

For the last 6 months or so, I've been working on this project as my Senior Project for my BS in Mechanical Engineering at Cal Poly Pomona. I've created a working prototype that is constrained to 1 axis. It has 608 bearings at the base that run very smoothly to simulate a pin joint. Only having 1 axis made it much easier for me to tune the controller, and it made it cheaper while I experimented with different motor and controller options. I've finally found a setup that works, so I will be creating the full 2-axis system in the next few weeks. I anticipate that it will work similarly to my 1-axis system, but of course only time will tell if that is the case.

In the mean time, check out these videos of my working prototype!

This is a ~17" tall version that I started with:

And here is a taller version that works just about as well. It is 34" tall:

The 34" tall version is approaching the height needed for a useful monopod. My goal is 4 feet tall, but I will probably start with 3 feet for the next prototype, because I am currently maxing out the motor controllers I'm using. It would be pretty easy to increase their peak power by about 50%, which would probably make a 4 foot tall version possible, so I will probably do that right afterwards.