The planar double pendulum consists of two coupled pendula, i.e. two point masses m 1 and m 2 attached to massless rods of fixed lengths l 1 and l 2 moving in a constant gravitational field (compare Fig. 5.1). For simplicity, only a planar motion of the double pendulum is considered. Such a planar double pendulum is most easily constructed as a mechanical model to demonstrate the complex dynamics of nonlinear (i.e. typical) systems in mechanics, in contrast to the more frequently discussed linear (i.e. atypical) harmonic oscillators. Here, numerical experiments are helpful for investigating the complex dynamics, in particular by means of Poincaré sections.
KeywordsManifold Torque Cond Suffix
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