Modeling of the transformable mechanical systems

The results of the modeling of the transformable mechanical systems are presented. This mechanical systems are used for construction space vehicles and robotics devices. They are constituted of a succession of rigid bodies, each of them being linked to its predecessor and its successor by a one-degree-of-freedom joint. Each segment being linked to its successor by a revolute or translational joint. Each of the joints can being actuated. The analysis of publications has shown that open-loop kinematic chains and closed-loop kinematic chains are used. The Lagrange dynamical equations in matrix form are used for the modeling mechanical systems. This equations are true for open-loop kinematic (serial) and closed-loop (parallel) kinematic chains. The forward problem of the dy- namics of the opening the bar of the solar panels are presented (open-loop kinematic chain). In this case are accepted, that the rigid bodies of the device are rotating in a horizontal plane and gravitational moments are perceive by balance. The modeling of the transformable mechanical systems are implemented by LabVIEW. Virtual instruments for cal- culate the coordinates of behavioral points of the mechanical system, for example, centre of mass, as points for mount balance, matrix of the inertia, the kinetic energy of the system and the force of the actuator are presented. The article proposes the results of the modeling and virtual instruments are solved the forward problem of the dy- namics of the transformable mechanical systems and can being used for design robotic system and manufacture of the space vehicles.