中文摘要：

变胞机构是一类具有多功能阶段变化、多拓扑结构变化、多自由度变化等特征的机构。将其应用于装载机研究发明的新型电动装载机构，可按不同阶段的工作需求改变其执行机构的拓扑结构，只需一台驱动电动机就能完成传统两自由度液压装载机铲装、翻转、抬升、卸料等工作任务。采用电动机驱动、连杆传动的方式，能有效克服液压系统零部件加工装配要求高、维护保养困难、易产生漏油等缺点；且电动机均安装在机架上，避免了传统串联式机械手的驱动电动机大都安装在铰链处，导致的刚性差、惯量大等问题。介绍变胞装载机构的变胞源机构以及实现变胞功能的几何变胞方法，利用邻接矩阵和拓扑图描述了各工况对应的子工作阶段机构的拓扑结构变化，分析其工作原理和构态转化特点，得到机构构态演变过程的生物学进化特性。针对机构的结构和连接特点，研究变胞进化生长过程中构型的转化方式和蜕化方法，对各个构型单元分别进行进化计算，得到变胞源机构的基因模型表达式。

英文摘要：

Metamorphic mechanism is a class of mechanism which possesses the characteristics such as multi-stage, multi-topology, multi-degree of freedom （DOF） changes. A novel type of electric loading mechanism is proposed by employing the concepts of the mechanism to the innovative design of loaders, which can change its topological structures to adjust various kinds of demands during the working process. One driving motor can finish multiple tasks such as shoveling, loading, lifting, and dumping. The motor is placed on the frame, problems of traditional serial manipulators such as low stiffness, high inertia of the linkages can be avoided. The source-metamorphic mechanism of the newly invented mechanism is introduced, as well as its metamorphic ways. The adjacent matrix and topological graphs are used to describe the topological changes of each sub-phase of the mechanism, based on which the working principles and characteristics of configuration changing are analyzed. The characteristics during the evolutionary process are obtained. Configuration transformation and its degeneration ways during the genetic growth are studied. The representation of source-metamorphic mechanism is given after generation operations.