Construction Analysis And Synthesis Of Metamorphic Mechanism And The Software

A metamorphic mechanism is a new kind of mechanisms which was proposed at the 25th ASME Biennial Mechanisms and Robotics Conference in Atlanta in 1998.This kind of mechanism which can be folded and deployed highly has the characteristics of configuration transformation and automatic combination. It can provide different number of DOF (Degree Of Freedom) and combine to a new mechanism by changing the number of effective bars in different situations to meet different needs.The concept of metamorphic mechanism and metamorphic principle are introduced. And constraint graph and adjacent sub-matrix are used to describe configuration transformations. Then, the construction analysis and synthesis method of metamorphic mechanisms based on adjacent sub-matrix is proposed, and examples of metamorphic mechanism synthesis and analysis is used to illustrate the construction analysis and synthesis method.After that the application of metamorphic mechanism is summarized and two examples are used to illustrate it.Then, the isomorphism of mechanism is related and a method based on characteristic incidence matrix to judge the isomorphism is presented For verifying the proposed method an example of ten-bar linkages is proposed.At the end of the paper, the programming of related software by C++ is finished. A programmed algorithm of metamorphic mechanism synthesis and analysis is proposed. And the run results are verified.