中文摘要：

双连杆柔性机械臂在实际中有着广泛的应用。基于第二类Lagrange方程,并通过运动学分析,建立了双连杆柔性变胞机构的全构态动力学方程。采用经典的Rayleigh~Ritz法对柔性杆进行了离散化处理,运用MATLAB软件对建立的全构态动力学方程进行了仿真计算。仿真结果表明,机构在进行构态切换时加速度发生突变,从而产生很大的冲击力,但构态切换对机构产生的冲击只需考虑其刚性运动。最后,提出了控制机构运行稳定性的三种有效途径。

英文摘要：

Two-link flexible arms have been widely used in practice. Based on the second kind of Lagrange equations, the dynamic model of the configuration-complete for two-link flexible metamorphic mechanism is established through the kinematic analysis. Flexible links are discretized by classical Rayleigh-Ritz method and dynamics simulation analysis is carried out by MATLAB software. The simulation results show that the acceleration will produce sahation and the mechanism will be greatly impacted when this metamorphic mechanism changes from one configuration to another. The rigid motion of the link is only considered about the configuration-changing impact on the mechanism. Finally, three effective ways for stable operation of the mechanism are proposed.