000012483 001__ 12483
000012483 005__ 20160816141448.0
000012483 04107 $$aeng
000012483 046__ $$k2016-05-09
000012483 100__ $$aPolach, P.
000012483 24500 $$aINVESTIGATION OF DYNAMIC BEHAVIOUR OF AN INVERTED PENDULUM DRIVEN BY CABLES REPRESENTED BY POINT-MASS MODEL

000012483 24630 $$n22.$$pEngineering Mechanics 2016
000012483 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Praha
000012483 506__ $$arestricted
000012483 520__ $$2eng$$aThe paper deals with point-mass modelling of cables, which are suitable for involving in dynamics of fibre mechanisms. The motivation is the development of a cable model, which could be efficient for the usage in a mechatronic model of a manipulator consisting of cables and an end-effector whose motion is driven by cables – particularly for the usage in the model of QuadroSphere. At previous research into the approach to the cable modelling, an inverted pendulum driven by two fibres (cables) attached to actuators was chosen as a suitable reference object. Its properties were investigated applying a calculation model. This paper is focused on using the point-mass model of cables, utilization of which generally proved to be very prospective for cable modelling. The effect of cable preload, the influence of the amplitude of the harmonic kinematic excitation of cables, the mass effect of cables and the influence of non-symmetric harmonic excitation on the pendulum motion were investigated. The influence of these crucial parameters of the system of an inverted pendulum driven by fibres (cables) on its dynamic behaviour is evaluated.

000012483 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000012483 653__ $$aCable, Inverted pendulum, Point-mass model, Multibody modelling, Vibration.

000012483 7112_ $$aEngineering Mechanics 2016$$cSvratka, CZ$$d2016-05-09 / 2016-05-12$$gEM2016
000012483 720__ $$aPolach, P.$$iHajžman, M.
000012483 8560_ $$ffischerc@itam.cas.cz
000012483 8564_ $$s148379$$uhttps://invenio.itam.cas.cz/record/12483/files/113bo_o_dyn.pdf$$yOriginal version of the author's contribution as presented on CD, id 113, section DYN.
000012483 962__ $$r12369
000012483 980__ $$aPAPER