中文摘要：

阐述了变胞机构的特点及其结构学、运动学、动力学、控制、柔性建模及设计等若干理论问题。介绍了矢量法、矩阵法、指数积方法等几种运动分析方法，比较了Newton／Euler法、Lagrange方法、Kane方法、Roberson／Wittenburg方法、高斯最小约束原理法等几种动力学建模方法的优缺点，提出了变胞机构的几种控制方法和柔性变胞机构建模中存在的几个关键性的问题。最后概述了变胞机构的应用领域，展望了变胞机构的应用前景。

英文摘要：

The paper elucidated the characteristics of a metamorphic mechanism and some theoretical issues conceming structural theory, kinematics, dynamics, control, flexible modeling and design, presented several kinematics analysis methods such as vector method, matrix method and POE method, compared the advantages and disadvantages of the Newton/Euler method, the Lagrange method, the Kane method, the Roberson/Wittenburg method, the Gaussian principle of minimized constraints and other dynamics modeling method and raised a few control methods concerning metamorphic mechanisms and some key questions existing in flexible metamorphic mechanism modeling. Finally the paper discussed the application areas and prospects of metamorphic mechanisms.