Dynamics of a cantilever arm actuated by a nonlinear electrical circuit

摘要

The idea in this paper is to present some analytical and numerical results on the investigation of the dynamics of a nonlinear electromechanical system including a cantilever robot arm manipulator, harmonically actuated through an electric circuit. We use the method of harmonic balance to derive oscillatory solutions. Forced vibrations are analyzed showing that numerical results are in agreement with those obtained analytically for the stationary response. The system presents various types of nonlinear behaviors including chaos.