Abstract: Dynamics equations of metamorphic mechanism for an arbitrary configuration are established according to Kane's equations. Hence, the configuration-complete dynamic modeling of metamorphic mechanism, a serial of diferential/algebraical equations, is formed by introducing the transformation matrix of generalized speeds. The configuration-complete dynamic modeling includes all configurations of metamorphic mechanism. And the configuration-complete dynamic modeling is solved by means of orthogonal complement array. The configuration-changing condition is proposed based on the characteristic of metamorphic mechanism. Finally, a numerical simulation illustration is shown to elucidate the application of this method. The dynamic simulation results show that the mechanism will be greatly impacted when the metamorphic mechanism changes from a configuration to another.

Key words: metamorphic mechanism, configuration, configuration-complete, dynamics, simulation