中文摘要：

变胞机构是由英国伦敦大学的戴建生教授与Ree Jones于1998年在亚特兰大召开的ASME第25届机构学双年会上提出的。它是一种新型机构，具有构态变化和自动组合等特点，还具有高度展开、折叠的性质。在不同的构态下变胞机构的有效杆件数目及自由度数也不同，从而具备了更多的功能和特性。本文重点介绍了基于 Roberson-Wittenburg 法的变胞机构的拓扑描述方法，然后使用 Roberson-Wittenburg 法对变胞机构的动力学进行分析，建立了该机构任意构态q上的点的位置、速度和加速度数学模型，并给出了一个包装领域的变胞机构动力学分析的实例。结果表明，该法简便有效，易于编程实现。

英文摘要：

Metamorphic mechanism is held in Atlanta in 1998 by the University of London, UK Using DH Transformation Ree Jones at the 25th ASME first institutions to learn double the annual meeting. Metamorphic mechanism is a highly start folding agency has a configuration state changes and automatic combination, to provide a different number of degrees of freedom in a different state to change the number of agencies to effectively bars the automatic combination of new institutions , to accommodate the need for different functions. In this paper representation methods of topological structures of metamorphic mechanism are introduced, and the Roberson-Wittenberg method is specially introduced.Then, the Roberson-Wittenberg method is used to analyze the dynamic of metamorphic mechanism. And the mathematic models of position, velocity and acceleration of any point belongs to the configuration are established. An example to verify the method is given.The method has the advantages of calculation simplicity, and easy programming.