中文摘要：

基于变胞机构的变拓扑结构特性，提出了3种基本变胞过程：构件数目变化、运动副数目变化和连接方式变化，这些过程的组合使用可实现全部变胞要求。为了完整、简便、清晰地描述构态变换过程，提出运用含有运动副类型的关联矩阵及其逻辑运算对变胞过程进行描述，同时给出了构态变换方程的逻辑表达式和实现变胞过程的4种基本变胞矩阵。该方法能直观地描述出构态变换的过程和目的，变胞矩阵构造简便，与传统数学运算相比运算次数少，且变换过程中不需要对构件重新编号，有利于形成变胞机构计算机辅助设计方法。

英文摘要：

Three elementary metamorphic processes are proposed based on characteristics of variable topology in metamorphic mechanisms： change in the number of components, change in the number of kinematic joints and change of link connectivity. Combining these processes can fulfill all metamorphic requirements. In order to repre- sent the processes of configuration changes completely, conveniently and clearly, incidence matrix with type of ki- nematic joints and its logical operation are introduced to describe the metamorphic processes, and meanwhile, the logical expression of configuration changing equation and four kinds of elementary metamorphic matrices which are used to fulfill the metamorphic processes are given. This method can describe the process and purpose of configuration changes intuitively and it is easy to construct the metamorphic matrix. In contrast with traditional mathematical operation, it is propitious for metamorphic mechanisms＇ computer aided design because the number of times of logical operation is much less and it is unnecessary to renumber components.