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Forced oscillations of a two degree-of-freedom autoparametric system are studied with moderately high excitations. The approximate results obtained by the method of harmonic balance are found to be satisfactory by comparing with those obtained by numerical integration. In the primary parametric instability zone, separate regions of stable and unstable harmonic solutions are obtained. In the regions of unstable harmonic solutions, depending on the forcing amplitude and frequency, the solutions may be amplitude modulated or completely nonperiodic. In the latter case the numerical integrations do not converge.

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Chaotic oscillations arising in forced oscillations of a two degree-of-freedom autoparametric system are studied. Statistical analysis of the numerically integrated nonperiodic responses is shown to be a meaningful description of the mean square values and the frequency contents of the responses. Some qualitative experimental results are presented to substantiate the necessity of performing the statistical analysis of the responses even though the system and the input are deterministic.

This paper studies the static rigidity behaviour of a parallel manipulator with legs modelled as elastic members under axial loading. Structurally, a parallel module is more rigid compared to a serial module and is expected to take heavier pay loads. Therefore, a guidance for design of such parallel manipulators is needed which leads to maximum rigidity over the workspace. In the present work, the authors propose the concept of the flexibility ellipsoid for a parallel system. Various scalar measures of rigidity are formulated on the basis of the proposed ellipsoid. An algorithm, involving multiple objective nonlinear programming technique, is implemented to decide upon some important design parameters of a generalised six degrees of freedom Stewart platform type parallel manipulator. It is observed that irrespective of the other parameters, parallel manipulators with the legs pairwise joined at the top platform possess the highest rigidity. Moreover, there exists certain kinematic dimensions for which the designed parallel system is completely free from all sorts of singularity.

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