A New Dynamic Model of a Two-Wheeled Two-Flexible-Beam Inverted Pendulum Robot

Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is analyzed. In this model, two cantilever beams are on the two-wheeled base and they are excited by voltages to the attached piezoelectric actuators. The mathematical model of this system is obtained using the extended Hamilton's Principle. The results show that the governing equations of motion are highly nonlinear and contain several coupled terms. These complex equations are solved numerically and the natural frequencies of the system are extracted. The system is then simulated in both lateral and horizontal plan movements. This paper proposes a new model of two-wheeled two-flexible-beam inverted pendulum Robot and investigates its complex dynamic; however, the derived equations will be validated experimentally and a suitable control strategy will be applied to the system to make it fully automated and more applicable in the future works.