变胞机构发生构态变换时，不可避免地会造成冲击，严重时将导致系统失稳，因此对变胞机构进行稳定性分析对于变胞机构在实际应用中的推广至关重要。以面向任务可控变胞式码垛机器人机构为研究对象，将最大李雅普诺夫指数作为机构系统动态稳定度的评价指标，在所建立机构系统全构态非线性动态模型的基础上，考虑了机构材料参数、控制参数以及内冲击激励对机构系统动态性能的影响。运用Newmark法求解出机构系统全构态非线性动态模型的响应时间序列后，运用C_C法计算时间延迟和嵌入维数，对响应序列进行相空间重构，运用Wolf法计算响应序列的最大李雅普诺夫指数，根据系统输出端相图中的轨迹对系统稳定性进行分析。研究成果为变胞机构动态稳定性的研究提供了参考基础。

Metamorphic mechanism would result in impact when it is changing from one configuration to the next. What is more,it would make the mechanism be unstable. Therefore,dynamic stability of metamorphic mechanism is expected to be analyzed. It is important for metamorphic mechanism to apply and spread in practical engineering. The controllable metamorphic palletizing robot mechanism is investigated. The largest Lyapunov exponent is used as metrics of dynamic stability of the system. Based on the nonlinear dynamic model of the novel controllable metamorphic palletizing robot mechanism system of all configurations under the actual operating,mechanism material parameters,control parameters and internal impact excitation are taken into consideration. After time series of steady-state responses of the mechanical system are solved by Newmark method,time delay and embedding dimension are figured out by C_C method. And phase space of the time series of steady-state responses are reconstructed. Then Wolf method is applied to calculate the largest Lyapunov exponent of this time response series. And phase diagrams of the system output paths are used to analysis stability of the system. The research provides some references for stability study of metamorphic mechanism.