Furuta Pendulum

Onshape 3D CAD Furuta pendulum Assembly Mates NEMA17 stepper AS5600 encoder Animation Simscape Multibody STM32 Nucleo-F446RE X-NUCLEO-IHM01A1 STM32CubeIDE

The pendulum model in the Simscape Mechanics Explorer.

Controller board	STM32 Nucleo-F446RE
Motor driver	X-NUCLEO-IHM01A1 stepper driver expansion board
Motor	17HE12-1204S NEMA17 stepper
Sensor	AS5600 magnetic encoder
Development	STM32CubeIDE

Overview

A Furuta pendulum, also called a rotary inverted pendulum, modelled in Onshape. I built the parts, combined them into an assembly with mates, and animated the motion.

A stand holds a 17HE12-1204S NEMA17 stepper motor, which turns the encoder mount.
The pendulum is a bent arm that pivots in the encoder mount and carries a mass at its tip.
An AS5600 magnetic encoder on the encoder mount reads the pendulum angle.
8 part instances and 8 mates in the full assembly.

Simscape Multibody model

Simscape Multibody diagram of the pendulum: world frame and solver configuration, the stand, a torque-driven revolute joint for the base, the pendulum mount, a second revolute joint for the pendulum and a tip mass. A Motor_input port drives the base joint, and the pendulum angle and velocity and base angle and velocity are outputs. — The multibody model. A motor torque drives the base joint, and the model outputs the pendulum and base angles and velocities.

Hardware

The built pendulum on hardware.