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Double 3D Pendulum Model Features: - The Lower Body Is An Axially Symmetric Rigid Link

The document describes a model of a double 3D pendulum system consisting of two rigid links connected by spherical and universal joints. The lower link is fixed to the ground and has additional mass at the hip joint. The upper link has additional mass at the tip and is attached to the lower link at the hip joint. Both revolute joints at the hip are actuated. The model represents the pendulum using a five link kinematic chain and the Spatial Operator Algebra framework to calculate dynamics, energies, and joint forces.

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17 views

Double 3D Pendulum Model Features: - The Lower Body Is An Axially Symmetric Rigid Link

The document describes a model of a double 3D pendulum system consisting of two rigid links connected by spherical and universal joints. The lower link is fixed to the ground and has additional mass at the hip joint. The upper link has additional mass at the tip and is attached to the lower link at the hip joint. Both revolute joints at the hip are actuated. The model represents the pendulum using a five link kinematic chain and the Spatial Operator Algebra framework to calculate dynamics, energies, and joint forces.

Uploaded by

Anonymous AFFiZn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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DOUBLE 3D PENDULUM

Model Features
An inverted Double 3D Pendulum is represented in an
inertial frame (x, y, z) as a two-body system :
The lower body is an axially symmetric rigid link
whose end-points are referred to as the foot and
the hip, respectively. There is an additional lumped
mass placed at the hip and the foot is rigidly fixed
to the ground understood to be the (x, y) plane.
The upper body is also an axially symmetric rigid link
with an additional lumped mass placed at its tip that
represents the head. The upper and lower bodies
are attached to one another at the hip.
The joint at the foot is assumed to be spherical,
but is realized here as three consecutive revolute joints
permitting three rotations about the x, y, z axes. The
revolute joints at the foot are NOT actuated.
The joint at the hip is assumed to be universal and
is realized as two consecutive revolute joints permit-
ting rotations about the x and y axes. Both revolute
joints at the hip are actuated freely (there is no
constraint on the actuation power).
All joints are frictionless and the pendulum is placed
in a gravity potential field.

In this simulation, but without the loss of generality, the


geometry and inertia matrices for the upper and lower
bodies are assumed the same. The spatial double pen-
dulum system is modeled as a five link kinematic chain
in the framework of the Spatial Operator Algebra (SOA),

http://dshell.jpl.nasa.gov/SOA/index.php

The SOA framework permits to calculate the forward and


backward dynamics of the system, all reaction forces at
the joints, the kinetic and potential energies of the system
and its parts, and the work performed on the body by the
reaction forces at the ground.

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