Fig. 6

Phase diagram and Poincaré mapping of periodic movement transitions and quasi-periodic movement under \({\mu _{{\text{kn}}}}{\text{=}}0.91\). (a) 3 − 2 movement at \(\omega {\text{=2}}{\text{.71}}\). (b) chaos at \(\omega {\text{=}}2.709\). (c) Poincaré mapping of chaos at \(\omega {\text{=}}2.709\). (d) 4–4 movement at \(\omega {\text{=2}}{\text{.83}}\). (e) 2–2 movement at \(\omega {\text{=}}3.0\). (f) 1–1 movement at \(\omega {\text{=}}3.15\). (g) quasi-periodic movement at \(\omega {\text{=}}3.208583\). (h) Poincaré mapping of quasi-periodic movement at \(\omega {\text{=}}3.208583\).