Affiliations: School of Mechanical Engineering and Automation,
Northeastern University, Shenyang, China
Note: [] Corresponding author: Qingkai Han, School of Mechanical
Engineering and Automation, Northeastern University, Shenyang, 110189, China.
Tel.: +86 24 83680545; Fax: +86 24 83679731; E-mail: [email protected]
Abstract: In this paper, we investigate the joint viscous friction effects on
the motions of a two-bar linkage under controlling of OPCL. The dynamical model
of the two-bar linkage with an OPCL controller is firstly set up with
considering the two joints' viscous frictions. Thereafter, the motion
bifurcations of the two-bar linkage along the values of joint viscous frictions
are obtained using shooting method. Then, single-periodic, multiple-periodic,
quasi-periodic and chaotic motions of link rotating angles are simulated with
given different viscous friction values, and they are illustrated in time
domain waveforms, phase space portraits, amplitude spectra and Poincare mapping
graphs, respectively. Additionally, for the chaotic case, Lyapunov exponents
and hypothesis possibilities of the two joint motions are also estimated.
