【摘要】 柔性变胞机构由于其特殊的结构和运动形式,其动力学方程具有很强的非线性,将有可能导致运动呈现混沌现象.依据变胞机构全构态动力学模型,研究了双柔性机械臂动力学中的混沌现象.根据计算得到的Lyapunov指数及机构的相图,验证了柔性变胞机构中存在混沌现象.更多还原

【Abstract】 The dynamic equations of Flexible metamorphic mechanism(FMM)is high nonlinear because of special structure and dynamic behavior,so it will possibly produce chaos nonlinear phenomenon. The two-flexible-arm manipulator is given to study chaos phenomena based on the configuration-complete dynamic modeling of FMM. The results show that chaos phenomena are validated in FMM by calculating Lyapunov exponent and the phase configures.更多还原