EFFECTS OF FIBRE MASS ON THE DYNAMIC RESPONSE OF AN INVERTED PENDULUM DRIVEN BY FIBRES

Fibres, cables, wires and fibres 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 by cables. 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. 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. Since mass of fibres can influence employed types of fibre models, chosen dynamic quantities (e.g. pendulum angle, vibration amplitude etc.) are investigated in dependence on the excitation frequency for various fibres weights.