Dynamic response and chaotic behavior of a controllable flexible robot

Abstract Flexible robots with controllable mechanisms have advantages over common tandem in vibration magnitude, residual time, working speed, and efficiency. However, abnormal can sometimes occur, affecting their operation. Traditionally only simple are considered studying vibration, omitting reference to important chaotic phenomena caused by the flexibility of mechanism rod. In order better understand causes our work takes a flexible robot complex series-parallel as research object uses combination Lagrangian finite element methods establish its nonlinear elastic dynamics. The effectiveness model is verified comparing calculated frequency measured test. time-domain diagram, phase Poincaré map, maximum Lyapunov exponent, bifurcation diagram motion wrist studied, system identified through diagram. relationship between parameters exponent discussed, including trajectory angular speed radius. results show that behavior exists radius all an influence on motion. Our provides theoretical basis for further control optimal design mechanisms.