中文摘要：

变胞机构在航天器和机器人领域有着广泛的应用。本文用Huston低序体阵列描述变胞机构的拓扑结构，并对一种典型变胞机构进行了构态分析。用齐次变换矩阵建立了该变胞机构的运动学数学模型，并对其进行了运动学仿真。数值仿真结果表明，变胞机构在构态切换时加速度有突变，进而提出了消除加速度突变的方法。

英文摘要：

Metamorphic mechanisms are widely used in the fields of spacecrafts and robotics. This paper described their topological structures by using the Huston Lower Numbered Arrays, and the configuration analysis of a typical metamorphic mechanism was carried out. Its kinamatic mathematical model was established through using a homogeneous transformation matrix, and its kinematic simulation was also accomplished. The numerical simulation results show that its acceleration was discontinued when the configurations shifted from one to another. Furthermore, the method for removing the discontinued acceleration was proposed.