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Two-wheeled inverted pendulum robots are designed for self-balancing and theyhave remarkable advantages. In this paper, a new configuration and consequentlydynamic model of one specific robot is presented and its dynamic behavior isanalyzed. In this model, two cantilever beams are on the two-wheeled base andthey are excited by voltages to the attached piezoelectric actuators. Themathematical model of this system is obtained using the extended Hamilton'sPrinciple. The results show that the governing equations of motion are highlynonlinear and contain several coupled terms. These complex equations are solvednumerically and the natural frequencies of the system are extracted. The systemis then simulated in both lateral and horizontal plan movements. This paperproposes a new model of two-wheeled two-flexible-beam inverted pendulum Robotand investigates its complex dynamic; however, the derived equations will bevalidated experimentally and a suitable control strategy will be applied to thesystem to make it fully automated and more applicable in the future works.

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