【摘 要】
：
The concept of metamorphic mechanism is put forward according to the change of configurations from one state to another. Different configurations of metamorphic
【机 构】
：
Robotics Institute, Beijing University of Aeronautics and Astronautics,Beijing 100083, China;School
【基金项目】
：
国家自然科学基金;中国博士后科学基金
论文部分内容阅读
The concept of metamorphic mechanism is put forward according to the change of configurations from one state to another. Different configurations of metamorphic mechanism are described through the method of Huston lower body arrays. Kinematics analyses for metamorphic mechanism with generalized topological structure, including the velocity, angular velocity, acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration, including close-loop constraints, are formed by using Kane’s equations. For an arbitrary metamorphic mechanism, the transformation matrix of generalized speeds between configuration (*)and(*)+1 is obtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphic mechanism including all configurations is completely established.
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