Modeling and Analysis of Swing on Parallel Bars

Abstract

The support swing on the parallel bars in artistic gymnastics was modelled under the assumptions of an underactuated two-link mechanism, the symmetry of the swing, the controller of a virtual constraint, and a smoothness criterion for determining the constraint. The effect of the tilt angle of the first segment (arm) at the start of the forward swing was examined on various characteristics of the motion. The swing speed was monotonically changed with the tilt angle. The torque-change cost of the shoulder joint, the maximum of the absolute value of the shoulder torque, and the variation of the mechanical energy were minimized at similar values of the tilt angle, where the force vector exerted by the bars on the first segment was roughly parallel to the first segment during the swing.