中文摘要：

提出一种模块化构造变胞机构的新方法,系统研究变胞机构结构组成问题。该方法即基于Assur杆组构造自由度为1的扩展的Assur杆组,应用Assur杆组法构造平面单自由度机构的规则,构造多自由度平面变胞机构。基于Assur杆组构建自由度为1的扩展Assur杆组,给出基于扩展Assur杆组的变胞机构组成原理、自由度的计算、具有确定运动的构型等基本问题。根据变胞后的蜕化的等效Assur杆组,研究扩展Assur杆组的运动变换特征,为变胞机构的结构综合提供依据。基于扩展杆组的概念,构造几种典型的空间1自由度变胞杆组,并对空间变胞机构的结构组成原理进行探索。实例表明,就像用Assur杆组构造普通机构一样,平面和空间变胞机构都能用所给出的自由度为1的模块构造而成,实现了系统的设计变胞机构。

英文摘要：

A new kind of modularized structural theory and formation method of multi-mobility metamorphic mechanisms is presented in order to form metamorphic mechanisms systematically.Planar metamorphic mechanisms are composed on the basis of developed augmented Assur group（AAG） by applying the structural forming rules of general planar mechanisms formed by Assur group（AG）.The one-mobility AAG are introduced based on class II and class III AG,the structural theory and formation methodology of planar metamorphic mechanisms are proposed based on the AAG,and the basic problems such as the mobility,the metamorphic working configuration are studied.The degenerated equivalent AG of AAG in the metamorphic process and the corresponding kinematic characteristics are investigated and discussed to provide references for the synthesis of metamorphic mechanisms.Some typical spatial metamorphic group is introduced based on the concept of AAG,and the structural formation of spatial metamorphic mechanisms is given.Examples show that both planar and spatial metamorphic mechanisms can be formed by proposed one-mobility blocks systematically as general planar mechanism composed by AG.