Design and production of a prototype wheeled pendulum for the new 2.004 laboratory

The goal of this thesis was to create a piece of physical hardware that would be suited for a multi-week design project for the design component of the Dynamics and Control II (M.I.T. course number: 2.004) laboratory. The wheeled pendulum model was chosen as an appropriate system to use in the second half of the laboratory component of 2.004 because of its clearly defined and well understood system. The inverted (or wheeled) pendulum is a classic controls problem-in the absence of a controls component, the system is non-linear and unstable. This thesis analyzes the system dynamics by deriving the equations of motion for the wheeled pendulum, and uses mathematical modeling (MatlabTM) to further understand the instability of the system. Based on the Matlab models, several design iterations were developed, and a robust, functional prototype of the wheeled pendulum was created.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Yoon, Jane Sujin

Advisor dc:contributor.advisor

• David Gossard.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/36289

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/36289