No abstract

：The impact problem of metamorphic mechanism in the process of configuration transformation is investigated. According to the metamorphic mode of the metamorphic mechanism, the impact motion generated by configuration transformation can be divided into stable impact motion and movable impact motion. The stable/movable impact dynamic models of metamorphic mechanism are established by the Newton-Euler equation, and the stable/movable impulse solving models are derived from classical collision theory and recovery coefficient equation. By equivalent analysis of the stable/movable impact dynamic models of the metamorphic mechanism, the functional relations between the impulse at the metamorphic joint and the stable/movable impulse are obtained respectively. Based on the internal impact dynamic theory of serial mechanism, the impulse solving model at non-metamorphic joint is established. Taking the planar 3-DOF metamorphic mechanism and the planar double folded metamorphic mechanism as examples, their impact problems are studied and numerical simulations are carried out to analyze the effect of different input characteristics and recovery coefficients on the impact motion. The proposed theory and method can also be applied to the study of impact between internal components of multi-body system.