• ISSN 0258-2724
  • CN 51-1277/U
  • EI Compendex
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Volume 19 Issue 3
Jun.  2006
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Article Contents
ZHENG Xiaowu. Period-Doubling Bifurcations of Period Motion of Two-Degree-of-Freedom Manipulators[J]. Journal of Southwest Jiaotong University, 2006, 19(3): 396-399.
Citation: ZHENG Xiaowu. Period-Doubling Bifurcations of Period Motion of Two-Degree-of-Freedom Manipulators[J]. Journal of Southwest Jiaotong University, 2006, 19(3): 396-399.

Period-Doubling Bifurcations of Period Motion of Two-Degree-of-Freedom Manipulators

  • Received Date: 12 Sep 2005
  • Publish Date: 25 Jun 2006
  • To investigate the dynamic stability of a two-degree-of-freedom manipulator as a system,differential equations of motion for this system were established on the basis of the Lagrange equation,and perturbed differential equations with period coefficients were derived for the period motion of this system by applying the perturbance theory.Furthermore,the stability of the equilibrium point for the perturbed differential equations was analyzed by utilizing the Floquet theory,and the process of a period-doubling bifurcation after stability loss of the equilibrium point were investigated numerically.The research shows that a period-doubling bifurcation will occur if the eigen-matrix for the system has one eigenvalue-1 with the change of its parameters.

     

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