中文摘要：

基于柔性变胞机构由于特殊的结构和运动形式,其动力学方程是非线性的,基于第一类拉格朗日方程,推导出柔性变胞机构任意构态柔性体的质量矩阵、刚度矩阵及广义主动力矩阵,建立柔性变胞机构任意构态的动力学控制方程,为实现对柔性变胞机构的精确控制打下基础;另外,根据杆件增加和减少两种情况下的构态变换矩阵推导出全构态柔性变胞机构的动力学模型.以4构态的柔性变胞机构为例,建立动力学方程并仿真验证所建立的全构态动力学模型的正确性和有效性.

英文摘要：

Because of special structure and dynamic behavior, the dynamic equations of flexible metamorphic mechanism （FMM） are nonlinear. Based on the first Lagrangian equations, the mass matrix, stiffness matrix and general force matrix of flexible member that are used for arbitrary configuration of FMM are educed. Dynamic equations of arbitrary configuration of FMM are established and this is the foundation to realize the precise controlling. According to the configuration changing matrixes of member increased and member decreased, the configuration-complete dynamic modeling of FMM is finally obtained. Dynamic equations of four configurations FMM are given to validate dynamic modeling of FMM.