INVERTED DOUBLE PENDULUM MECHATRONIC DEVICE WITH VARIABLE LENGTH LINKS.
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机译：具有可变长度链接的倒立双摆机械装置。
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摘要
The present invention relates to an inverted double pendulum mechatronic device with variable length links which comprises an actuator interconnected to a first link firmly coupled to the actuator and rotatably interconnected to a second link through a coupling shaft. A second link is rotatably interconnected to the first link through a coupling shaft. The aforementioned device involves a first optical incremental encoder coupled to the actuator used to determine the angular position and velocity of the first link, a second optical incremental encoder coupled to the first link, which is used to measure the position and angular velocity of the second link. Further, the device presents several fastening means; the first ones are disposed on the first link; the second ones fasten the second link. Finally, the invention incorporates a control system responsible for controlling the operation of the present mechatronic device; wherein both the first link and the second link have an outer el ement and an internal element slidably coupled to each other to modify its total length.
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