Nonlinear Dynamics and Analysis of a Planar Multilink Complex Mechanism with Clearance

Figure 12

Lyapunov exponent of 2-DOF nine-bar mechanism for different clearance values: (a) clearance = 0.01 mm; (b) clearance = 0.05 mm; (c) clearance = 0.1 mm; (d) clearance = 0.2 mm.

(a)

(b)

(c)

(d)