The dynamics of an omnidirectional pendulum harvester

Philipp Sommermann, Matthew P. Cartmell

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)
38 Downloads (Pure)


The pendulum applied to the field of mechanical energy harvesting has been studied extensively in the past. However, systems examined to date have largely comprised simple pendulums limited to planar motion and to correspondingly limited degrees of excitational freedom. In order to remove these limitations and thus cover a broader range of use, this paper examines the dynamics of a spherical pendulum with translational support excitation in three directions that operate under generic forcing conditions. This system can be modelled by two generalised coordinates. The main aim of this work is to propose an optimisation procedure to select the ideal parameters of the pendulum for an experimental programme intended to lead to an optimised pre-prototype. In addition, an investigation of the power take-off and its effect on the dynamics of the pendulum is presented with the help of Bifurcation diagrams and Poincaré sections.

Original languageEnglish
Pages (from-to)1889-1900
Number of pages12
JournalNonlinear Dynamics
Issue number3
Early online date3 May 2021
Publication statusE-pub ahead of print - 3 May 2021


  • spherical pendulum
  • nonlinear dynamics
  • bifurcation
  • nonlinear oscillations
  • energy harvesting
  • Poincaré sections


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