239 resultados para 1142


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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator-first joint actuated and the second joint free-that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.

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In this paper we consider a self-excited mechanical system by dry friction in order to study the bifurcational behavior of the arisen vibrations. The oscillating system consists of a mass block-belt-system which is self-excited by static and Coulomb friction. We analyze the system behavior numerically through bifurcation diagrams, phase portraits, frequency spectra and Poincare maps, which show the existence of nonhomoclinic and homoclinic chaos and a route to homoclinic chaos. The homoclinic chaos is also analyzed analytically via the Melnikov prediction method. The system dynamic is characterized by the existence of two potential wells in the phase plane which exhibit rich bifurcational and chaotic behavior.

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This paper concerns a type of rotating machine (centrifugal vibrator), which is supported on a nonlinear spring. This is a nonideal kind of mechanical system. The goal of the present work is to show the striking differences between the cases where we take into account soft and hard spring types. For soft spring, we prove the existence of homoclinic chaos. By using the Melnikov's Method, we show the existence of an interval with the following property: if a certain parameter belongs to this interval, then we have chaotic behavior; otherwise, this does not happen. Furthermore, if we use an appropriate damping coefficient, the chaotic behavior can be avoided. For hard spring, we prove the existence of Hopf's Bifurcation, by using reduction to Center Manifolds and the Bezout Theorem (a classical result about algebraic plane curves).

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Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

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