inverted spring pendulum & control torque

[nzur]

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

[maimonides]

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

[maimonides]

Are you trying to build a walking robot?