Ozdel, Mustafa EnesKilic, EmirhanAtila, MustafaTavakol, Vahit BarisSarac, Mine2025-10-152025-10-152025979833156656297983315665552165-0608https://doi.org/10.1109/SIU66497.2025.11112054One of the biggest challenges in the field of service robots is achieving steady transportation of goods. This challenge can be addressed by developing self-balancing platforms. This study proposes a mechanism that maintains tray steadiness on inclined surfaces and during abrupt movements. The system integrates a dual-servo motor controlled by an inertial measurement unit (IMU) sensor for real-time inclination detection and correction. A linkage mechanism dynamically adjusts the tray's position based on sensor feedback, ensuring optimal balance. Experimental results validate the system's effectiveness in maintaining steadiness under various conditions, enhancing service robot functionality, reducing spillage, and improving reliability.eninfo:eu-repo/semantics/closedAccessService RobotsTray SteadinessDual-Servo MechanismSelf-Balancing SystemConference Object10.1109/SIU66497.2025.111120542-s2.0-105015403049