The design of the final system can be decomposed into three different parts: mechanical, electrical, and control. The mechanical system is all the physically moving parts in the system such as the ball drive and the suspension subsystem. The electrical system handles the power regulation and distribution in TIPSY. This includes batteries, switches, chargers, and DC to DC converters. The control system is the intelligence of the system and its implementation. This subsystem contains the sensors, microcontroller, motor controllers, and motors.

The mechanical design elements encompassed three main subjects

• Ball Drive
• Suspension
• Structure

The electrical design elements handle power regulation and distribution:

• Batteries and Chargers
• DC to DC converters
• Power Control Board (analog control of energy distribution)

• Digital computation (microcontroller implements PD control)
• Analog sensing (inclinometer and gyroscopes)
• Motor Controllers (amplify signal from the microcontroller)