Inverted spring pendulum & control torque

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SUMMARY

The discussion centers on the feasibility of applying control torque to an inverted spring pendulum system. Participants clarify that while ideal springs may transmit only axial forces, real springs exhibit torsional elasticity, allowing for torque transmission. The conversation emphasizes the necessity of a restoring force for the system to function as a pendulum and questions the definition of control torque in this context. The inquiry also hints at potential applications in robotics, specifically in walking robot design.

PREREQUISITES
  • Understanding of spring mechanics and elasticity
  • Familiarity with pendulum dynamics and equilibrium positions
  • Knowledge of control systems and torque application
  • Basic concepts in robotics, particularly in walking mechanisms
NEXT STEPS
  • Research real-world spring properties and their effects on torque transmission
  • Study pendulum dynamics and the role of restoring forces
  • Explore control torque applications in robotic systems
  • Investigate the design principles of walking robots and their mechanical components
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Engineers, robotics enthusiasts, and students interested in mechanical systems, particularly those focusing on pendulum dynamics and control mechanisms in robotics.

nzur
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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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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
 
Are you trying to build a walking robot?
 

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