Inverted spring pendulum & control torque

In summary, the conversation discusses the properties and use of springs in a system and the possibility of giving a control torque to a spring pendulum. The speaker also asks for clarification on the properties of springs and the purpose of the system.
  • #1
nzur
2
0
Hey folks,

please see an attached figure.


I am just wondering if I can give a torque to the system (B).

A spring transmit only axial forces between two points.. so I am very confused on it.

If I assumed that the spring is compliant only in axial direction, can I give a control torque to spring pendulum ?

...

Any comment and feedback will be very appreciated. thanks
 

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  • #2
Hello nzur,
I fear I don´t quite understand you and your drawing.

Most real springs will transmit torque, and they will have also have torsional elasticity (apart from the longitudinal elasticity). You´re free to define ideal springs with any kind of properties you want, but it might not be relevant for practical purposes.

Where does the restoring force in Model A come from and where is the equilibrium position? (Without a restoring force it is not a pendulum)
What exactly do you mean by control torque?

maimonides
 
  • #3
Are you trying to build a walking robot?
 

FAQ: Inverted spring pendulum & control torque

What is an inverted spring pendulum?

An inverted spring pendulum is a type of mechanical system that consists of a rod with a mass attached to one end and a spring attached to the other end. The mass is free to move along the vertical axis and the spring provides the restoring force to keep the system in equilibrium.

How does an inverted spring pendulum work?

An inverted spring pendulum works by utilizing the principle of potential energy. When the mass is displaced from its equilibrium position, the spring stretches or compresses, storing potential energy. This energy is then released to bring the mass back to its equilibrium position. The control torque is used to adjust the amount of potential energy in the spring and control the motion of the system.

What is the purpose of control torque in an inverted spring pendulum?

The control torque in an inverted spring pendulum is used to adjust the potential energy in the spring and control the motion of the system. By applying a torque in the opposite direction of the motion, the control torque can change the amount of potential energy stored in the spring, thereby controlling the position and stability of the system.

What are some applications of inverted spring pendulum & control torque?

Inverted spring pendulum & control torque systems are commonly used in robotics, specifically in the design of robotic arms and balancing robots. They are also used in control systems for stabilizing objects such as ships or aircraft. Additionally, they can be used as a teaching tool for studying the principles of control systems and feedback control.

How is the stability of an inverted spring pendulum & control torque system determined?

The stability of an inverted spring pendulum & control torque system can be determined by analyzing the system's equations of motion and studying the behavior of the system under different control torque inputs. The system is considered stable if it returns to its equilibrium position after being disturbed. Additionally, the system's stability can be improved by adjusting the control torque parameters to optimize its response to disturbances.

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