This is a novelty (according to my research) for a self-balancing robot which uses a single stepper motor with dual shaft. I named it the PisaBot based on the famous Leaning Tower of Pisa. The inspiration for the robot name is from the constant forwards and backwards rocking motion to keep its balance so the robot is leaning most of the time in either directions along one plane.
I designed the chassis in Autodesk Inventor Pro (except for the Pisa Tower cover which i edited in Tinkercad from utechlab's design: https://www.thingiverse.com/thing:1129396) and 3D printed the parts. This is the final version after more than a dozen prototypes in order to shrink the overall design and reduce the robot’s height (minus the cover) to keep the centre of gravity as low as possible.
The washer (for each bumper on the front and back side of the robot) goes into the rubber bumper hole so that you can use an M3 screw to hold it tightly to the motor mounting plate extension that juts out in the front and back. The selected wheels allow the motor and chassis to stay above ground as high as possible without the outer diameter rubbing against the electronics plate. You could also use some other wheels but keep the outer diameter under 90 mm.
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