Kinematic And Dynamic Simulation Of Metamorphic Mechanism

Metamorphic mechanism is held in Atlanta in1998by the University of London, UK Using DH Transformation Ree Jones at the25th ASME first institutions to learn double the annual meeting. Metamorphic mechanism is a highly start folding agency has a configuration state changes and automatic combination, to provide a different number of degrees of freedom in a different state to change the number of agencies to effectively bars the automatic combination of new institutions, to accommodate the need for different functions.Firstly, representation methods of topological structures of metamorphic mechanism are introduced, and the Roberson-Wittenberg method is specially introduced. The method uses digraph to describe the metamorphic mechanism’s structure changing. The calculating rules of the path matrix and adjacent matrix are described. An example to verify the method is given. Then, the Roberson-Wittenberg method is used to analyze the kinematics of metamorphic mechanism. And the mathematic models of position, velocity and acceleration of any point belongs to the configuration are established. An example to verify the method is given.At last, the Roberson-Wittenberg method is used to analyze the dynamic of metamorphic mechanism. The configuration-complete dynamic equations of metamorphic mechanism is established based on the structural and kinematic conclusion. And such mechanism in the practical application is introduced.