Non-smooth Dynamics Analysis of a Variable Topology Mechanism with Two Topologies

The non-smooth excitation caused by the topology change of the flexible variable topology mechanism may have a great influence on the flexible component amplitude. In view of this, this paper studies the non-smooth dynamics characteristics of a folding manipulator belonging to the flexible variable topology mechanism. The vibration response model of the flexible beam under different topologies and the non-smooth dynamics model at topology change are established. On this basis, the numerical simulations are developed. The variation of the amplitude of the flexible beam under the different rigid rod rotation speeds and different initial positions of the object is investigated. Through the bifurcation diagram, time domain diagram and phase diagram, it demonstrate that the flexible beam amplitude may diverge under the non-smooth external excitation caused by the periodic topology change. Finally, the design criteria of the folding manipulator motion process are proposed through the simulation results.