INVESTIGATION OF DYNAMIC BEHAVIOUR OF AN INVERTED PENDULUM DRIVEN BY CABLES REPRESENTED BY POINT-MASS MODEL

Abstract eng:
The 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.

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