I'm planning to build a Balance Bot and I would like to know which design should I go with. There's a vertical design such as the ArduRoller and on the other hand, there's the typical stacked type of deign. I have attached images below for both of them.
Although both of these are based on the principle of Inverted Pendulum, how do these differ from each other in terms of stability and response (assuming both the designs are of the same size)? Is the mass distribution in the vertical design better? Also, is there a difference in programming them?
I don’t think it matters. Go with the design that best fits your attitude and tools.
IMO the number one factor is the motors. They need:
sufficient torque
quick response
very little backlash in the gearing
The second concern is starting with working code base. Tweaking the control algorithm is a pain. Helps to have a radio and or trim pots so you are not constantly plugging and unplugging a serial cable.
I’m with ggallant on that one - a frame is a frame, so you might find one easier for mounting, but provided the CG is correct and centered, the wheels have the torque and speed needed, the sensors are good etc., the fact that the frame components are horizontal or vertical should not matter.
