关键词: 变胞机构;变胞机器人机构;可重构策略;位移子群;约束图

Abstract: The geometrized displacement group is set up to assist for metamorphic reconfigurations and investigations on metamorphic rules occurred with reconfigurable constraint variations. A metamorphic mechanism is regarded as a set of metamorphic modules while each is composed by binary composition of single groups under invariant configuration properties. Module combination and reconfiguration are taken as generator in producing metamorphosis. The group based reconfiguration properties by setting up constraint set and matrix in topology and motion variation analysis are further revealed. To illustrate the configuration constraints and the corresponding kinematic properties, geometric constraint modeling is set up. The constraint operation rules are further discussed according to group compositions. The reconfiguration approach is deduced with metamorphic module variation principles under the constraint design concept.

Key words: metamorphic mechanism;metamorphic robot;reconfiguration technique;displacement group;constraint graph