A numerical and experimental investigation of the dynamic behavior of a two-link, 3 degree of freedom (DOF) rotational pendulum is presented. This work extends previous studies of two-link 2DOF rotational pendulum systems in which the links were connected to each other and to the main driver by 1 DOF pinned joints. In the present study, an additional degree of freedom is added in which the first link is connected to the main driver shaft by a 2DOF cardanic joint. The two links are still connected by a pinned joint. It is observed that such systems have inherent zones of instability. A stable zone and an unstable zone, separated by a specific critical angular velocity, were identified. If the rotational speed is under this critical value, the mechanical system shows asymptotic stability. For rotational speeds above this value, the system shows instability around a static bifurcation.

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