Theoretical Analysis of Viscoelastic Friction System Characteristics of Robotic Arm Brake Based on Fractional Differential Theory

摘要

In engineering practice, the nonlinear vibration effect can easily lead to chaos in the system, which will not only reduce the performance of the system but also lead to premature fatigue of components, control failure, and increased safety risks. In view of the core position of the robotic arm in modern industry, this study relies on the robotic arm brake system to explore the theoretical basis of integrated viscoelastic materials as a vibration isolation layer. By analyzing the dynamic characteristics of the friction braking system with fractional differential terms, it aims to provide a new perspective for understanding and controlling the chaotic phenomena of a class of nonlinear friction systems. Firstly, we construct a model of a friction system and analyze its dynamic characteristics in detail. The self-excited vibration of the system under disturbance is studied. The relationship between amplitude and frequency is calculated by a nonlinear approximate analytical algorithm, and the accuracy of this relationship is verified by a numerical algorithm. Then, we compare the differences between non-fractional systems and fractional systems. It is found that with the increase in the fractional order term, the vibration amplitude of the system decreases significantly, which helps to reduce the nonlinear characteristics generated by the friction system and narrow the range of unstable solutions. Secondly, we also study the influence of parameter coefficients on the amplitude–frequency characteristics and analyze the local static bifurcation characteristics through singularity theory. Finally, we study the dynamic bifurcation behavior under different parameter perturbations and find that the change in system parameters will lead to the alternation of periodic motion and chaotic motion.