Abstract
Metamorphic mechanism possesses multi-configurations and can change from one kind to another with a series of changes in topology and mobility of movement. Its kinematic behavior and equations are hence variable during the process of configuration changes. Aiming at the variable topology characteristics of metamorphic mechanism, a new method is proposed in the form of constraint equations which can be used to analyse configuration changes as well as allows the kinematic analysis and simulation of metamorphic mechanisms. One-to-one correspondence between incidence matrix method and constraint equations method is established based on four types of topological changes. The position, velocity and acceleration equations are obtained, and then a metamorphic mechanism for conveying and turning over packing case is used as an example to demonstrate the proposed approach which can be implemented easily in programming.
Published Version
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