Design of Spatial Inverted Pendulum System

Abstract

Pendulum-based systems which are highly non-linear and unstable have become one of the most widely studied subject of control theory. The close interest of researchers on inverted pendulum problem arises from its strong representation ability with real engineering applications. This study focuses on the design and production of an experimental setup in which a spatial inverted pendulum can be balanced by means of a planar mechanism in RRRRP configuration. A mechanism with two different motion inputs (rotational and linear) that no studies were performed on before was prototyped. This system is highly unstable and shows non-linear dynamic behavior. The mechanical parts that forms the system were manufactured by a 3D printer and a CNC milling machine. At the end of study, a four-degree of freedom spatial inverted pendulum experimental setup has been established on which the control works can be carried out, by installing the electronic and electro-mechanical equipment.