Research on configuration transformation and kinematics of metamorphic mechanism for operating the hatch door

The metamorphic mechanism for operating the hatch door is analyzed in detail for its freedom varying before and after. Furthermore, the process of configuration transformation is researched using the theory of topology and metamorphic mechanism. A method is proposed to solve the problem that the metamorphic mechanism for operating the hatch door can not be researched using the current theory of metamorphic mechanism to analyze the configurations and the configuration transformations through the equivalent transformation of variable freedom kinematic pair. And this method provides a straightforward approach to research the metamorphic mechanism systematically. The kinematic analysis of some typical configuration phases and kinematic numerical simulation are accomplished. The simulation results show that there exist velocity difference of components themselves and the adjacent components at the moment of configuration transformation under single driving mode.