Abstract
In this study, a double-wheel unicycle transportation is proposed. Because of the shortage of energy resource and parking space in city, the idea of this light-weight electrical aid personal unicycle can hopefully be used in future transportation system. In this study, the unicycle has the features of small longitudinal length, with two coaxial wheels and pedaled by human with electric control system to balance the unicycle. It is known that when the rider rides the unicycle, the pedal force disturbs the balance of the vehicle. This unbalance force comes from the gravity center is not at the point of the ground contact points of the vehicle. To balance the unbalance force, servo-motors to drive the two wheels are used. The unbalance condition is detected by sensors. To measure the variation of center of gravity to find the reacting time and force (torque), the devise of a center-of-mass (CoM) position metrology platform to detect the dynamic variation of CoM position is designed and is set up. The measurement results are used to help the control system design to find the corrected actuator. In this study, would design a hybrid powered transmission mechanism to combine human power and electric power is designed. Planetary gear set is considerable to be the basic concept of transmission mechanism design. The sequence of study processes would be helpful to design the layou¬t about chassis, bike frame, and wheels. The mechan¬ism design could link up the mechanical system with the motor and electro-control system.