Method for configuration synthesis of metamorphic mechanisms based on constraint variation

A metamorphic mechanism can be considered as a mechanism set composed by multiple kinematic chains which have the ability to be varied and combined following specific rules in order to make its configurations changed continuously to meet different mission requirements. Continuous configuration transformation is one of the most characteristics of the metamorphic mechanism and it results from the variation of constraints. On the basis of unified description of the generalized constraints in the design process of the mechanism, constraint variation in the metamorphic mechanism is analyzed based on its characteristic of multi-configuration. The way to achieve configuration transformation of metamorphic mechanisms and the design principle of metamorphic kinematic pairs is further achieved. A configuration synthesis methodology of metamorphic mechanisms is proposed. The essence of this method is to realize variation and coupling of the mechanism of adjacent configuration by applying metamorphic kinematic pairs according to the functions, constraints and sequence of configurations. The new approach is verified by developing a vehicle of various missions with a metamorphic driving mechanism.