Effortless Personal Transporter

9 III March 2021
https://doi.org/10.22214/ijraset.2021.33283
International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 9 Issue III Mar 2021- Available at www.ijraset.com
Effortless Personal Transporter

Mrs. T. Usharani1, Mr. P. Vengalakumar2, Mr. J. Joshva3, Mr. G. Krishikesan4, Mr. S. Narayanan5, Mr. K. Krishna
Pandi6.
1
Assistant Professor, Department of Mechanical Engineering, UVOCCE, Thoothukudi.
2
Teaching Faculty, Department of Mechanical Engineering, UVOCCE , Thoothukudi.
3, 4, 5, 6
Student, Department of Mechanical Engineering, UVOCCE , Thoothukudi.
Abstract: Thispaper deals with the construction of a personal transporter at a very low cost, high efficient rate and easy to
handle. It will eventually be widely used and accepted as a form of transportation. This effortless personal transporter is one of
the several low speed transportation devices that, under certain circumstances, travel on sidewalks, roadways, and other shared-
used paths. It will be more economical and accessible to people in their day to day life. In this paper, we present an effortless
Segway based onself balancing mechanism using Accelero-Gyro sensor (IMU MPU6050) along with a microcontroller
(Arduino Uno) and use of mechanical and electrical hardwares. This Segway is absolutely eco-friendly mode of transport
which causes zero pollution. The main objective is to build a vehicle capable of transporting a person weighing upto 70 –
80 kg and capable of travelling some km distance with varying speed. The design of effortless personal transporter is such that
it covers less space and gives more comfort to the user.
Keywords: Segway, Accelero – Gyro Sensor, Arduino UNO, Microcontroller
I. INTRODUCTION
A Segway is a two-wheeled vehicle which was introduced by Dean.L. Kamen in 2001.It can self-balance itself as well as the weight
of the rider. It is provided with a control handle bar, vertical to the platform, which is pushed front or pulled back and accordingly
the motion of the segway is noticed. This device is primarily driven by the dynamics of the rider either forward or backward. This is
an eco-friendly mode of transport for short distances since no fuel is consumed and rechargeable batteries are used. A Segway
consumes very less space and helps reduce the extreme traffic to quite some extent. In our paper, the prototype demonstrates the
mechanism of the segway by balancing itself. A rider’s motion makes changes in the angle of inclination of the device which is
sensed by the MPU 6050 and sends the data to the arduino which in turn controls the motion of the Segway. For the rider’s
convenience, we have also introduced remote sensing, implementing it using the HC – 05 from a certain distance.
The rest of this paper organized as follows; Section 2 describes the identification of the problem and offers solution. Section 3
describes the mechanical and electrical components of the model. Section 4 presents the working principle of the model. Finally in
section 6 conclusion and reference section for future work are presented.
A. Self Balancing Mechanism

Self-balancing mechanism is a mechanism by which a system achieves and maintains a steady state by internal forces. It is capable
of achieving equilibrium or equality of its element by processes inherent within it. Initially, the equilibrium state is achieved by
inverted pendulum but nowadays various stages of developments are made.
II. PROBLEM IDENTIFICATION AND SOLUTION

A. Problem identification
We have identified that, in many industries, the workers and supervisors face the problem of getting tired very soon due to various
reasons. Due to their tiredness, they can’t work effectively and efficiently. They lose concentration and fail many times. The major
reason of being tired is due to their travelling within and also outside the department areas.
B. Solution
To solve this problem, we came up with an idea to reduce their travel time and do the work with ease. This lead us to come out with
a solution called personal transporter (Segway). By using this segway, the supervisors and quality crackers can do their work
effectively and efficiently. In 2011, the Segway was being marketed to the emergency medical services community. In 2018, the
police of Stockholm adopted Segways as permanent transportation method for the patrollers of the old town. Thus, Segway can be
used as a solution in various ways.
©IJRASET: All Rights are Reserved 569

III. DESCRIPTION OF COMPONENTS

A. Mechanical Components
The major mechanical components are base plate, handle bar, shafts and bearings, wheels and safety wheels.
B. Electrical & Electronically Components

The major electrical components are motor, Arduino Uno, L298N motor controller, IMU (MPU 6050), battery and wires.
IV. MECHANICAL COMPONENTS

A. Base Plate
In manufacturing of our segway, the initial step is making a strong base plate. Base plate is the part which has to be designed in a
such a way so as to withstand all load types. So it is the strongest part of our segway. It is made up of mild steel which is
machinable and weldable . The grade of steel used to manufacture the base plate is FE330 (IS3589).
B. Handle Bar
In most of the vehicles, handle bar will act like a steering system. Our segway runs on various control systems attached to it. These
control systems are attached to the handle bar so that the rider can control the segway easily. Our handle bar is made up of stainless
steel which is a high corrosive resistant one, has light weight and more life. The grade of steel used to manufacture handle bar is
Grade 304 (Stainless steel).
C. Shafts and Bearings

Shafts and bearings play a major role in controlling the operation of segway. They are the essential one because shafts are used to
transmit power from one part to another and bearings are used to reduce friction between moving parts. It also helps in the safe
operation of mechanical parts used in segway. The shafts used here are made up of carbon steel and the bearings are SKF 6205.
D. Wheel
A wheel is a disc or circle shaped mechanical device. Its main purpose is to allow things to roll; in other words, the wheel spins and
the objects on the wheel move more easily along the ground. The wheels used in our segway is a rubber moulded one which is
connected to the motor shafts through bearings. The wheels have a diameter of 30 cm.
E. Safety Wheels
These safety wheels are undriven one. It is designed to be attached to the bottom of a larger object to enable that object to be moved.
As its name indicates it is used for the safety purpose of the segway. If the electrical components of the segway fail, the rider should
be safe and avoid any injury. So safety wheels play a vital role in rider safety.
V. ELECTRICAL COMPONENTS
A. Brushless DC Geared Motor
A motor is a device or electrical machine used to convert electrical energy into mechanical energy. Here, we are using a brushless
DC geared motor.
A geared motor is a component whose mechanism adjusts the speed of the motor, leading them to operate at certain speed. Thus, we
can achieve the needed speed through this geared motor. This geared motor have the ability to deliver high torque at low speeds, as
the gear head functions as a torque multiplier. In addition, they are brushless so that the motion control, positioning and actuation
systems are done. They have high power density, good speed torque characteristics, high efficiency, wide speed range and low
maintenance.
B. Arduino UNO
Arduino is an open source electronics platform based on easy to use hardware and software. Arduino boards are able to read inputs
like activating a motor.
The Arduino UNO board we use here is equipped with sets of digital and analog input / output pins that may be interfaced to
various expansion boards and other circuits. It can be powered by USB cable or by an external 9 volt battery, though it accepts
voltages between 7 to 20 volts.

C. L298N Motor Controller

This L298N motor controller or motor driving module is a high power motor driver module for driving DC and stepper motors. It
can control upto 4 or 2 DC motors with directional and speed control. It is powered by 5V and 30mA to drive upto 35V and 2A. It
can operate at maximum power of 25W. It is a high voltage and high current dual H bridge, called so far the structure of its circuit.
It can control the motors bidirectionally.
D. IMU (MPU 6050)

The MPU 6050 is a 6 DOF (Degrees of Freedom) or a six axis IMU sensor, which means that it gives six values as output. Three
values from the accelerometer and three from the gyroscope. The MPU 6050 is a sensor based on MEMS (Micro Electro
Mechanical Systems) technology. This helps us to measure acceleration, velocity, orientation, displacement and many other motion
related parameters of a system or object.
F. Battery and Wires

Lead – acid batteries, also known as lead storage batteries, can store a lot of charge and provide high current for short periods of
time. Lead – acid batteries are capable of being recharged, which is important for their use in cars. Wires are used to bear
mechanical loads or electricity and telecommunications signals. Wire is commonly formed by drawing the metal through a hole in a
die or draw plate. Wire gauges come in various standard sizes, as expressed in terms of a gauge number.
VI. WORKING PRINCIPLE

A. Working
This effortless personal transporter has been designed to work on both modes.
If any failure occurs in automation mode, the rider can use manual mode to operate the transporter.
1) Automation Mode: In automation mode, the motors of the effortless personal transporter is connected to Arduino UNO, via
L298N Motor controller, IMU (MPU 6050) and Bluetooth module HC – 05. (Arduino programming is attached below). The
rider can access the transporter by downloading any Bluetooth related apps like “EZ – GUI” in their smartphone. When the
device get paired with transporter, the rider can control the transporter with his/her own smartphone.
2) Manual Mode: In this manual mode, the rider can achieve two speed modes in this transporter. To turn the transporter right or
left, the rider should press the right or left indicator so that the power gets on specific motor to which direction the rider has to
turn his/her transporter. The speed control modes and direction controls are successfully achieved by rider with the use of
regulators placed inside the battery box. This entire manual mode control system is shown in figure1.
Autopilot Mode
Driving Speed (Slow, Fast)
Direction Control (Left, Right)
Driving Mode
Fig. 1 Control System

VII. COMPLETED MODEL

Figure 2 shows, the fabrication of welding work of our completed model. This is the rear view photography of our transporter.
Alsofigure 3 shows our completed model of personal transporter. This is the completed front view photography of our transporter.
Fig. 2 Rear view Fig. 3 Front view
VIII. CONCLUSION
As we said earlier, first we have identified the problem during our research and then concluded with the solution called personal
transporter (Segway). We discussed with our team mates and have included various transformations in this personal transporter.
This transporter works with a micro controller called Arduino UNO and also use various sensors like accelerometer, gyroscope, etc.,
We have studied the program involving Arduino Uno and implemented it. Being different from other Segways, we have also
attached the safety wheels and battery operation as an emergency servicewhen Arduino fails.
During the research, we have faced various hiccups and gaps in exploring the plan and design. We handled it and did the research
efficiently. The final model is a user friendly one. The person can ride and use this transporter without any fear and dauntless
because we have focused on the safety wheels by prioritizing the safety of the riders. This transporter can be used extensively since
it can be handled easily. Future developments will include new control technique andperforming a comparative study among them.
REFERENCES
[1] JishaKuruvilla et al, “Two wheeled self - balancing robot for autonomous Navigation”, IJEET, vol - 5, issue - 8, pages - 13 to 20, August 2014.
[2] Hau-ShiueJuang and Kai-Yew Lum, “Design and control of a two wheel self – balancing robot using the arduino microcontroller board”, IEEE International
Conference on Controls and Automation, China, June 2013.
[3] Wei An and Yangmin Li, “Simulation and control of a Two –Wheeled Self – Balancing Robot”, IEEE International Conference on ROBIO, December 2013.
[4] Liu, R. and Parthasarathy, R. “Segway Human Transporter (HT): Potential Opportunities and Challenges for Transportation Systems”, Presented at the 82nd
Annual Meeting of the transportation Research Board, Washington, DC. (2003).
[5] Prathik M. Chavan, “Design and Implementation of Low Cost Segway the Human Transporter”, IJRASET, vol - 5, issue - 4, April 2017.
[6] ShakilTadavi, “Segway – The Human Transporter”, IJIRST, vol - 1, issue - 11, April 2015.
[7] Faculty of Mechanical Engineering, PSG College of Engineering, “Design Data, Data Book of Engineers”, KalaikathirAchchagam.

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9 III March 2021

Effortless Personal Transporter

A. Self Balancing Mechanism

II. PROBLEM IDENTIFICATION AND SOLUTION

©IJRASET: All Rights are Reserved 569

III. DESCRIPTION OF COMPONENTS

B. Electrical & Electronically Components

IV. MECHANICAL COMPONENTS

C. Shafts and Bearings

©IJRASET: All Rights are Reserved 570

C. L298N Motor Controller

D. IMU (MPU 6050)

F. Battery and Wires

VI. WORKING PRINCIPLE

Driving Speed (Slow, Fast)

Direction Control (Left, Right)

Fig. 1 Control System

©IJRASET: All Rights are Reserved 571

VII. COMPLETED MODEL

Fig. 2 Rear view Fig. 3 Front view

©IJRASET: All Rights are Reserved 572

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