中文摘要：

针对邻接矩阵不能用于运动副方位变胞的问题,构建了一种描述变胞机构结构拓扑和构型演化的构态变换矩阵。该矩阵提供了运动链连接状况、运动副类型和运动副方位特征信息,使各类运动链都可应用该构态变换矩阵进行描述。给出了基于该构态变换矩阵的运动副方位变胞的基本原理和方法。首先构造平面运动链的构态变换矩阵,然后构造对应的带有消极自由度的平面运动链的构态变换矩阵,进而改变矩阵中某些运动副的轴线方位,构造出变胞后的运动链的构态变换矩阵,最后根据构态变换矩阵的拓扑信息,构造对应的机构结构简图,实现运动副方位变胞。实例表明,给出的构态变换矩阵结构简单,便于构造,信息量大;提出的变胞方法便捷可行。

英文摘要：

It is necessary to develop a topological representation with elements of joint-orientation in it for the joint-orientation change metamorphic processes.A configuration transformation matrix,in which the connectivity of links,the types of joint and their orientations of kinematic chains were clearly expressed,was hence proposed to describe and transform the topological configuration of metamorphic mechanisms.A joint-orientation interchanged metamorphic method was introduced based on the matrix as follows.First,the configuration transformation matrix of the planar kinematic chain was to be developed.Secondly,the configuration transformation matrix of planar kinematic chain was to be developed with joint（s） having the passive degree of freedom.Thirdly,the configuration transformation matrix of joint-orientation interchanged metamorphic mechanisms can be obtained by changing the orientations of joint（s）.Finally,a kimematic sketch was to be designed based on the matrix.The examples show that the proposed topological characteristic matrix provides more structural information with fewer elements and can be used conveniently.The paper provides a design method with efficiency and practicality.