Validation of the point-mass modelling approach for fibres in the inverted pendulum model

Abstract eng:
Fibres, cables and wires can play an important role in design of many machines. One of interesting applications is replacing the chosen rigid elements of a manipulator or a mechanism with fibres. The main advantage of this design is achievement of a lower moving inertia, which can lead to a higher mechanism speed and lower production costs. A chosen inverted pendulum attached to a frame by two fibres serves as a typical testing system for the investigation of the fibres properties influence on the system dynamic response. Motion of the pendulum of this nonlinear system is investigated using the alaska simulation tool. The sophisticated point-mass fibre model is validated on the basis of the results obtained using a massless fibre model. In addition, the equation of motion based on the massless approach is studied in terms of solution existence and its uniqueness.

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