Experiments on the Edge of Chaos of a Planar Closed Chain Underactuated Mechanism

  • J. XieEmail author
  • H. Zhao
  • Z.-H. Liu
  • Y. Chen
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


Experiment investigation of planar five-bar underactuated mechanism is carried out. The focus is on chaotic motion and the edge of chaos, at which the motion of the mechanism changes from period to chaos. The angular velocity of active joint is taken as the controlling parameter, i.e. the input angular velocity. Eighty seven values of input angular velocity ranging from 0.57 to 49.78 rpm are set to experiments. The displacements of the slider connected with frame are measured. Based on the data acquired, chaotic motion is identified by means of phase portrait, Poincaré mapping and Lyapunov exponent. The results of experiments show that the motion of mechanism undergoes from periodic motion to chaotic motion with the increasing of the input angular velocity. The edge of chaos is not a value of input angular velocity, but a range of input angular velocities. And at the edge of chaos, the periodic motion coexists with chaotic motion, and the motion of the mechanism alternates between the two states of motion.


Closed train underactuated mechanism Chaos Edge of chaos Experiment 



The authors would like to acknowledge the financial support of NSFC (National Natural Science Foundation of China) under the grant No. 51175437


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Southwest Jiaotong UniversityJiaotongPeople’s Republic of China

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