Bifurcation and chaotic behaviors of 4-UPS-RPS high-speed parallel mechanism

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.