• ISSN 0258-2724
  • CN 51-1277/U
  • EI Compendex
  • Scopus
  • Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
  • Chinese S&T Journal Citation Reports
  • Chinese Science Citation Database
Volume 19 Issue 3
Jun.  2006
Turn off MathJax
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.

     

  • loading
  • 冯春,谢进,陈永.利用Lyapunov指数分析机械手反馈控制中的混沌运动[J]. 中国机械工程,2004,15(7):624-627.FENG Chun,XIE Jin,CHEN Yong.Analysis of chaotic motion for feedback-controlled robots with lyapunov exponent[J]. Chinese Journal of Mechanical Engineering,2004,15(7):624-627.[2] 魏金铎,王和祥,尹以灿.柔性变截面滑移式机器人手臂的动力学与控制[J]. 应用力学学报,1993,10(4):20-27.WEI Jinduo,WANG Hexiang,YIN Yican.Dynamics and control of a mobile flexible manipulator with variable sections[J]. Chinese Journal of Applied Mechanics,1993,10(4):20-27.[3] 刘新建,马宏绪,张彭.柔性机械手加速度反馈控制抑制振动的机理与稳定性分析[J]. 国防科技大学学报,1999,21(5):25-28.LIU Xinjian,MA Hongxu,ZHANG Peng.Mechanism and stability analysis of vibration suppression with acceleration feedback for flexible manipulator[J]. Journal of National University of Defense Technology,1999,21(5):25-28.[4] 丁旺才.调速器反馈控制系统的Hopf分岔[J]. 西南交通大学学报,2001,36 (6):624-628.DING Wangcai.Hopf bifurcation of flywheel governor with feedback control device[J]. Journal of Southwest Jiaotong University,2001,36 (6):624-628.[5] LINDTNER E,STEINDL A,TROGER H.Generic one-parameter bifurcations in the motion of a simple robot[J]. Journal of Computational and Applied Mathematics,1989,26:199-218.[6] 舒仲周.运动稳定性[M]. 成都:西南交通大学出版社,1989:238-256.
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Article views(1436) PDF downloads(322) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return