Abstract
In order to grasp the nonlinear characteristics of high-speed spatial parallel mechanism, the bifurcation and chaotic behaviors of 4-UPS-RPS mechanism are analyzed. Firstly, the nonlinear elastic dynamic model of the mechanism is established by using the Lagrange equation and the finite element method. Then the effects of parameters including driving angular velocity, the radius of motion trajectory, the material of driving limbs, the diameter of driving limbs, and the mass of moving platform, on the bifurcation and chaotic behaviors of high-speed spatial parallel mechanism are studied. The results show that the above parameters all have a certain influence on nonlinear characteristics of the 4-UPS-RPS high-speed spatial parallel mechanism. The research can provide important theoretical basis for the further research on the non-linear dynamics of spatial parallel mechanism.
Highlights
With the development of modern industry, the requirement of the precision and dynamic performance of mechanical products is gradually increased
The bifurcation and chaotic behaviors of the 4-UPS-RPS high-speed parallel mechanism with different parameters are analyzed by the phase diagram, the Poincare map, bifurcation diagram and the largest Lyapunov exponent method
This paper investigates the bifurcation and chaotic behaviors of 4-UPS-RPS high-speed spatial parallel mechanisms
Summary
With the development of modern industry, the requirement of the precision and dynamic performance of mechanical products is gradually increased. As is known to all, nonlinear deformation of light components of high-speed parallel mechanism can cause complex chaotic behaviors, and worsen the dynamic performance of the mechanism. The previous studies were focused on the nonlinearity caused by clearance, dry friction and bearing oil film, rarely involved the bifurcation and chaotic behaviors analysis of spatial high-speed parallel mechanism with nonlinear deformation of the limbs. The main purpose of this paper is to study the bifurcation and chaotic behaviors of spatial high-speed parallel mechanism, forecasting the dynamic behavior of the parallel mechanism and selecting appropriate system parameters of the mechanism. The bifurcation and chaotic behaviors of the 4-UPS-RPS high-speed parallel mechanism with different parameters are analyzed by the phase diagram, the Poincare map, bifurcation diagram and the largest Lyapunov exponent method
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