Dynamic modelling of a projectile launcher with controlled double inverted pendulum

The aim of this paper is to form a mathematical model to simulate the dynamics of a unique mechanism which can be used in a projectile launching machine. This mechanism is a bi-linkage mechanism with two sets of pivots having rigid and flexible links respectively and the torque to drive the mechanism is applied at the first pivot via a pneumatic cylinder. The mathematical model of this system is derived assuming the system to be a controlled double inverted pendulum and the trajectory of the ball, resulting from the combined motion of the links, is assumed to follow circular path for a small segment. The launch parameters i.e. launch velocity and launch angle are derived from the numerical analysis of the mathematical model using simulation software and these parameters are experimentally verified to a great degree of accuracy.