变参数欠驱动平面五杆机构的混沌运动

Chaotic Motion of the Underactuation Planar Five-bar Mechanism with Variable Parameter

在机构运动过程中,如果机构的参数发生了变化,则机构的运动状态也必定会发生变化。以欠驱动平面五杆机构为例,研究滑块质量动态变化对机构运动的影响。以Simulink/SimMechanics和排列熵为主要研究工具,通过对机构混沌运动边缘分析,确定出了机构周期(准周期)运动、混沌运动的条件。在此基础上,分别以周期(准周期)运动和混沌运动为机构的初始运动状态,研究滑块质量有规律地增加的情况下机构的运动状态。研究表明,无论机构初始运动状态是周期(准周期)的还是混沌的,经过一定的时间之后,机构的运动状态都是混沌的。

The motion state of a mechanism will be changed when its parameters undergo some changes. Focusing on the impact of the variations of the slider mass on the motions of an underactua- tion planar five--bar mechanism. By means of Simulink/SimMechanics and permutation entropy, the conditions for periodic （quasiperiodic） motion and chaotic motion are found by analysis the edge of cha os. Based on these conditions, the motions of the mechanism starting with periodic （quasiperiodic） mo tion and chaotic motion are studied under the circumstance that the slider mass is increased regularly. The results show that the motion of the mechanism will eventually be chaotic no matter what kinds of motion the mechanism begins with.