Influence of the excitation amplitude on the dynamic behaviour of an inverted pendulum driven by fibres

摘要

Fibres, cables and wires can play an important role in design of many machines. One of the most interesting applications is replacement of chosen rigid elements of a manipulator or a mechanism with fibres. The main advantage of this design is the achievement of a lower moving inertia, which leads to a higher mechanism speed and lower production costs. An inverted pendulum attached and driven by two fibres serves as a typical testing system for the investigation of the fibres properties influence on the system dynamic response. The motion of the pendulum of this nonlinear system is investigated using the alaska simulation tool and an in-house program created in the MATLAB system. The influence of some parameters of the system of inverted pendulum driven by fibres has already been investigated. The influence of the amplitude of the harmonic kinematic excitation of fibres on the pendulum motion is investigated in this paper.