Metamorphic Mechanism Rigid Structure, Kinematics And Dynamics

In this thesis, three metamorphic processes are put forward based on the metamorphic principle of metamorphic mechanism. That is the member-increased, the member-decreased, and the member-unchanged but changing its configuration. After researching the three processes of metamorphic mechanism's structure changing, the methods of describing the metamorphic mechanism's structure changing by using the transformation of adjacent matrix are put forward. Four kinds of elementary matrixes which are used to transform adjacent matrix are also put forward. The matrix transformation, which is used to describe the processes of metamorphic mechanism's structure changing, can translate the structure changing of metamorphic mechanism to a series of matrix operation. This method can be used in the analysis of all kinds of metamorphic mechanisms' configuration transformation.Three structural design methods of metamorphic mechanism are introduced, that is changing kinematic pair, restricting members and module combination. Changing kinematic pair method and restricting members method are mainly used in the states which its members are fixed and freedom is changed during the movement of metamorphic mechanisms. Module combination method is used to design erectable or foldable metamorphic mechanisms.The adjacent members' relationship is described by homogeneous transformation matrix and Huston lower numbered arrays. The kinematics relationship is educed based on the successive relationship of every member. And the mathematic models of position, velocity and acceleration of any point P in typical body k which belongs to configuration q are established.According to a special configuration which including the maximal number of members and freedom for a metamorphic mechanism, the relationship of kinetic energy and potential energy before and after the configuration, and the relative results of structure theory and kinematics, the configuration-complete Lagrangian dynamic equations of metamorphic mechanism are established.The methods of how to model and simulate the metamorphic mechanism are studied by ADAMS software. A series of fussy analysis, reasoning, demonstration about dynamic equations and calculating process for the metamorphic mechanism are reduced by using ADAMS software. The correctness of kinematic and dynamic equations is proved by the results of kinematic and dynamic simulation of metamorphic mechanism.