For the base motor we decided to use the Pololu Metal Gearmotor of 8 Kg-cm of torque and 350 RPM. It has enough torque to move the pendulum and enough speed to make the control, it has a bidirectional rotation and has an operation voltage of 12 VDC. All it's main parts are made of metal so it is also strong enough to make fast direction changes. It also has a group of screw holes on the front, so we can fix the motor to the base platform.
Image 1: Mteal Motorgear and main characteristics.
Image 2: Dimensions diagram.
The sensor we decided as the best option so far is a circular potentiometer that will help us to know the angular position of the pendulum. It is a flat potentiometer with a little pointer and when the pointer touches the surface of the flat potentiometer it exercises an specific resistence so we will have a specific voltage to each position of the potenciometer.
Image 3: Circular flat potentiometer and characteristics and price.
Image 4: Spring actuated pointer.
Other sensors for the angular position are the following:
Image 5: PH1116 Sensor, it has up to 10 turns capacity.
PH 1116 Datasheet: http://www.electronicaestudio.com/docs/PH1116.pdf
Imnage 6: Rotary morion sensor CI-6538.
CI-6538 Datasheet: http://www.google.com/search?client=safari&rls=en&q=CI-6538&ie=UTF-8&oe=UTF-8
We will search for more sensors next Tuesday on Repulblica del Salvador Steet on the centrla part of the DF. And we are also going to but our metal gear motor in a shop called Robodacta.
These are the links of some special stores of electronic and robotics components near our college.
AG Electronica
URL: http://www.agelectronica.com/
Robodacta
URL: http://www.robodacta.com.mx/
