中文摘要：

变胞机构作为一种新型机构在工程领域有着广泛的应用。用联立约束法对一种可以实现变轨迹的带有闭环约束的变胞机构进行了动力学建模,并用Matlab/Simulink对其进行了数值仿真分析。数值仿真结果表明,变胞机构在构态切换时运动变量和力有一定的突变,进而提出了解决突变的方法。联立约束法是一种对变胞机构进行动力学分析研究的有效方法,丰富了关于变胞机构研究的理论与方法。

英文摘要：

Acting as a new kind of mechanism, metamorphic mechanisms are widely used in engineering fields. In this paper, a dynamics model is established for a metamorphic mechanism containing closed-loop constraint by using simultaneous constraint method, and the simulation analysis is implemented using Matlab/Simulink. The results of numerical simulation show that its kinematic variables and force have sahation when the configuration changes from one to another and a method is proposed to solve this problem.