Static balancing of an inverted pendulum with prestressed torsion bars

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

Research output: Contribution to journalArticleScientificpeer-review

7 Citations (Scopus)
235 Downloads (Pure)


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 languageEnglish
Pages (from-to)14-26
JournalMechanism and Machine Theory
Publication statusPublished - 2017


  • Parallel springs
  • Series spring
  • Static balancing
  • Torsion bars
  • Torsion springs

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