Research On Creative Design Of Metamorphic Mechanism Based On Extended MWI

Metamorphic mechanism is capable of having different topology configuration forms in different working stages,according to the environment and working conditions as well as the task demands, showing up in the effective number of links, changing the type or the geometric relationship of kinematic pair, which render the modern machinical systems accord with requirements for the restructurion of the development of modern machine,and its application prospect. The key difference is structure theory between metamorphic mechanism and conventional mechanism,and structure theory of metamorphic mechanism is the basis of kinematics and dynamics,therefore Chinese and foreign scholars pay most attention to research the structure theory of metamorphic mechanism,so research in this but it is also the most prominent.The paper discusses matrix expression methods of configuration transformation of metamorphic mechanism. Matrix with whole information can describe all structural information of metamorphic configuration completely and clearly, and its configuration transformation formula is put forword. By retrieving matrix,a lot of information can be obtained, including the number of kinematic joins, the number of components, the number of multiple components, the number of multiple joints, the size of multiple components, link connectivity, etc. By retrieving its extension matrix, kinematic parameters of the driving link and the housing are available. Based on the above, description and determination of the multi-component and multiple joints are provided. Through a case demonstration, this method can describe link that is attached to another in the process of link-increasing or link-decreasing,and kinematic pair properties change clearly and completely without initial configuration link renumbered.Research work in this paper,a new matrix expressing all the mechanism structure and motion information is put forword,which will help describe configuration information of metamorphic mechanism and kinematic analysis program design. Based on this research, innovative design automation metamorphic mechanism can be further explored.