Flexible Metamorphic Dynamics

This thesis mainly studies flexible metamorphic mechanism(FMM). The objective of this thesis is to establish configuration-complete dynamics modeling of FMM. The main study achievements in this thesis are as follows:First FMM is classified according to it's moving space, style of configuration change, types of kinematic pair, the changes of members or degrees and so on. Bodies of FMM are topologically described by adopting the method that combines regulation number with topological map. Relative matrix, path matrix and adjacency matrix are introduced so as to clearly describe FMM.Second flexible member kinematics of FMM refers to many questions. Like the choice of absolute description or relative description in kinematics of flexible member, the choice principle of reference frame in the system and discontiguous methods of flexible member that contains finite element method, Reyliegh-Ritz method, model analysis and synthesis method. In this thesis, an effective kinematics analysis method for arbitrary configuration of FMM is educed based on relative description, Reyliegh-Ritz method and local reference frame. Finally the method's physical meaning is revealed.Third dynamic methods which are used to establish modeling of FMM are also discussed. Based on the first Lagrangian equations, the mass matrix, stiffness matrix and general force matrix of flexible member that are used for arbitrary configuration of FMM are educed. Dynamic equations of arbitrary configuration of FMM are established. Matrix operation is done by introducing unit changing matrix and unit eliminant matrix. So the adjacent matrix of FMM is changed from one configuration to another. New relative matrix and access matrix are obtained. And the configuration changing matrixes of member increased and member decreased are also obtained. Based upon configuration changing matrix, the configuration-complete dynamic modeling of FMM is finally obtained. Dynamic equations of two configurations FMM and four configurations FMM are given to validate dynamic modeling of FMM.Finally It's necessary to study the chaos because of the strongly nonlinearity of dynamic modeling of FMM. The kinematics phase configures of different configurations are shown and analyzed.