Abstract
There are some mechanisms with variable topologies named metamorphic mechanism which have extensive applications. Structural design, especially the design of variable kinematic pair, is very important for this kind of mechanisms. A variable kinematic pair is a kinematic pair that is capable of topological variation in a mechanism with variable topology. Based on the principle of metamorphic mechanism, three structural design methods of metamorphic mechanism are introduced, that is changing kinematic pair, restricting members and module combination. Changing kinematic pair method and restricting member method are mainly used in certain condition when the number of member is fixed, but freedom is changed during the movement. Module combination method is used to design erectable or foldable mechanisms. Combining these methods can fulfill all design requirements of variable kinematic mechanism.
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