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

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F47718684%3A_____%2F16%3AN0000007" target="_blank" >RIV/47718684:_____/16:N0000007 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/49777513:23520/16:43930758 RIV/47718684:_____/16:N0000004

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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. At previous research into the approach to the cable modelling, an inverted pendulum driven by two fibres 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 on its dynamic behaviour is evaluated.

Název v anglickém jazyce

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

Popis výsledku anglicky

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. At previous research into the approach to the cable modelling, an inverted pendulum driven by two fibres 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 on its dynamic behaviour is evaluated.

Druh

D - Stať ve sborníku

CEP obor

BI - Akustika a kmity

OECD FORD obor

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Projekt

<a href="/cs/project/GA15-20134S" target="_blank" >GA15-20134S: Vícestupňové lehké mechanismy s aktivními strukturami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Enginnering Mechanics 2016

ISBN

978-80-87012-59-8

ISSN

1805-8248

e-ISSN

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Počet stran výsledku

4

Strana od-do

470-473

Název nakladatele

Institute of Thermomechanics, Academy of Sciences of the Czech Republic, v. v. i.

Místo vydání

Praha

Místo konání akce

Svratka

Datum konání akce

9. 5. 2016

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000379986700114