Static balancing of an inverted pendulum with prestressed torsion bars

G. Radaelli; R. Buskermolen; R. Barents; J. L. Herder

doi:10.1016/j.mechmachtheory.2016.10.005

Static balancing of an inverted pendulum with prestressed torsion bars

G. Radaelli, R. Buskermolen, R. Barents, J. L. Herder

Mechatronic Systems Design

Research output: Contribution to journal › Article › Scientific › peer-review

7 Citations (Scopus)

235 Downloads (Pure)

Abstract

This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of torsion bars is located along the hinge axis of the pendulum. A prototype with three parallel torsion bars was built. Experimental evaluation of the prototype revealed a 99% work reduction of the balanced pendulum with respect to the unbalanced one.

Original language	English
Pages (from-to)	14-26
Journal	Mechanism and Machine Theory
Volume	108
DOIs	https://doi.org/10.1016/j.mechmachtheory.2016.10.005
Publication status	Published - 2017

Keywords

Parallel springs
Series spring
Static balancing
Torsion bars
Torsion springs

Access to Document

10.1016/j.mechmachtheory.2016.10.005

Static balancing of an inverted pendulum with prestressed torsion barsAccepted author manuscript, 2.42 MBLicence: CC BY-NC-ND

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title = "Static balancing of an inverted pendulum with prestressed torsion bars",

abstract = "This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of torsion bars is located along the hinge axis of the pendulum. A prototype with three parallel torsion bars was built. Experimental evaluation of the prototype revealed a 99% work reduction of the balanced pendulum with respect to the unbalanced one.",

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T1 - Static balancing of an inverted pendulum with prestressed torsion bars

AU - Radaelli, G.

AU - Buskermolen, R.

AU - Barents, R.

AU - Herder, J. L.

N1 - Accepted Author Manuscript

PY - 2017

Y1 - 2017

N2 - This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of torsion bars is located along the hinge axis of the pendulum. A prototype with three parallel torsion bars was built. Experimental evaluation of the prototype revealed a 99% work reduction of the balanced pendulum with respect to the unbalanced one.

AB - This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of torsion bars is located along the hinge axis of the pendulum. A prototype with three parallel torsion bars was built. Experimental evaluation of the prototype revealed a 99% work reduction of the balanced pendulum with respect to the unbalanced one.

KW - Parallel springs

KW - Series spring

KW - Static balancing

KW - Torsion bars

KW - Torsion springs

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DO - 10.1016/j.mechmachtheory.2016.10.005

M3 - Article

AN - SCOPUS:84994210506

VL - 108

SP - 14

EP - 26

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0094-114X

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