Modeling and Construction of a Furuta Pendulum Prototype

Author

Antonio-Cruz, M. ; Silva-Ortigoza, R. ; Merlo-Zapata, C.A. ; Villarreal-Cervantes, M.G. ; Munoz-Carrillo, D. ; Hernandez-Guzman, V.M.

Author_Institution

Inst. Politec. Nac., CIDETEC, Mexico City, Mexico

fYear

2014

Firstpage

98

Lastpage

103

Abstract

In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software Solid Works and subsequently a prototype is built. Numerical simulations of the Furuta pendulum model are performed via Mat lab-Simulink. Furthermore, the Furuta pendulum prototype built is experimentally tested by using Mat lab-Simulink, Control Desk, and a DS1104 board from dSPACE.

Keywords

digital simulation; mechanical engineering computing; mechatronics; pendulums; ControlDesk; DS1104 board; Furuta pendulum mathematical model; Furuta pendulum prototype; Lagrange equations; Matlab-Simulink; SolidWorks software; dSPACE; mechanical design; DC motors; MATLAB; Mathematical model; Numerical models; Numerical simulation; Prototypes; Servomotors; Construction; Furuta Pendulum; Mechanical design; Mechatronics; Modeling; Prototype; Underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2014 International Conference on

Type

conf

DOI

10.1109/ICMEAE.2014.23

Filename

7120853