NONLINEAR REGULAR DYNAMICS OF A SINGLE-DEGREE ROBOT MODEL

This paper presents a mathematical model of a robot with one degree of freedom and numerical investigation of its dynamics in a particular p arameter scan which is close to the upper boundary of the estimates fo r the parameters of rigidity and friction, while the length parameter L is treated as a free control parameter. In this L-scan the quasiperi odic and frequency locked solutions, their pattern and order of appear ance are studied in the interval from the parameter range of immediate engineering significance to the point of appearance of transient chao s. In particular, a fractal-type multiple splitting of Arnold tongues is found in the parameter region bordering the range of engineering si gnificance.