中国物理B ›› 2025, Vol. 34 ›› Issue (6): 60501-060501.doi: 10.1088/1674-1056/adc2e1

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Synchronous dynamics of robotic arms driven by Chua circuits

Guoping Sun(孙国平), Mingxin Xu(许明鑫), Guoqiang Jin(金国强), and Xufeng Wang(王旭峰)†   

  1. College of Mechanical and Electrical Engineering, Tarim University, Aral 843300, China
  • 收稿日期:2025-01-03 修回日期:2025-02-20 接受日期:2025-03-20 出版日期:2025-05-16 发布日期:2025-05-27
  • 通讯作者: Xufeng Wang E-mail:wxfwyq@126.com
  • 基金资助:
    Project supported by the National Key R&D Program of China (Grant No. 2023YFD2000601-02).

Synchronous dynamics of robotic arms driven by Chua circuits

Guoping Sun(孙国平), Mingxin Xu(许明鑫), Guoqiang Jin(金国强), and Xufeng Wang(王旭峰)†   

  1. College of Mechanical and Electrical Engineering, Tarim University, Aral 843300, China
  • Received:2025-01-03 Revised:2025-02-20 Accepted:2025-03-20 Online:2025-05-16 Published:2025-05-27
  • Contact: Xufeng Wang E-mail:wxfwyq@126.com
  • Supported by:
    Project supported by the National Key R&D Program of China (Grant No. 2023YFD2000601-02).

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摘要： This study investigates chaotic synchronization via field-coupled nonlinear circuits, achieving both electrical synchronization and energy balance. The driving mechanism biomimetically parallels neuromuscular signal transduction, where synchronized neuronal firing induces coordinated muscle contractions that produce macroscopic movement. We implement a Chua circuit-driven robotic arm with tunable periodic/chaotic oscillations through parameter modulation and external current injection. Bifurcation analysis maps oscillation modes under varying external stimuli. Inductive coupling between two systems with distinct initial conditions facilitates magnetic energy transfer, optimized by an energy balance criterion. A bio-inspired exponential gain method dynamically regulates the coupling strength to optimize the energy transfer efficiency. The effects of ambient electromagnetic noise on synchronization are systematically quantified. The results indicate electrically modulatable robotic arm dynamics, with the coupled systems achieving autonomous rapid synchronization. Despite noise-induced desynchronization, inter-system errors rapidly decay and stabilize within bounded limits, confirming robust stability.

关键词: Hamilton energy, field coupling, synchronization, robotic arms

Abstract: This study investigates chaotic synchronization via field-coupled nonlinear circuits, achieving both electrical synchronization and energy balance. The driving mechanism biomimetically parallels neuromuscular signal transduction, where synchronized neuronal firing induces coordinated muscle contractions that produce macroscopic movement. We implement a Chua circuit-driven robotic arm with tunable periodic/chaotic oscillations through parameter modulation and external current injection. Bifurcation analysis maps oscillation modes under varying external stimuli. Inductive coupling between two systems with distinct initial conditions facilitates magnetic energy transfer, optimized by an energy balance criterion. A bio-inspired exponential gain method dynamically regulates the coupling strength to optimize the energy transfer efficiency. The effects of ambient electromagnetic noise on synchronization are systematically quantified. The results indicate electrically modulatable robotic arm dynamics, with the coupled systems achieving autonomous rapid synchronization. Despite noise-induced desynchronization, inter-system errors rapidly decay and stabilize within bounded limits, confirming robust stability.

Key words: Hamilton energy, field coupling, synchronization, robotic arms

中图分类号:  (Nonlinear dynamics and chaos)

  • 05.45.-a
05.45.Xt (Synchronization; coupled oscillators) 52.35.Mw (Nonlinear phenomena: waves, wave propagation, and other interactions (including parametric effects, mode coupling, ponderomotive effects, etc.)) 52.55.Dy (General theory and basic studies of plasma lifetime, particle and heat loss, energy balance, field structure, etc.)