中文摘要：

随着变胞机构研究的深入,变胞机构理论和应用也不断地发展和创新,有必要将现有的研究成果加以总结和分析,对未来的发展趋势进行展望,以促进变胞机构理论和应用的进一步发展。在变胞机构研究的基础上,介绍变胞机构的起源和意义,提出判定条件和5种变胞方式及其实现方法。并按照变胞机构的结构学、运动学、动力学、柔性变胞机构等方面,对变胞机构理论的研究现状进行阐述。鉴于变胞机构的结构学研究较多,按照变胞机构的构态描述方法、结构分析方法和结构综合方法等3个方面进行总结。并介绍变胞机构在航天、现代制造业和机器人等领域的应用现状。对于变胞机构的未来发展趋势进行构想和展望,提出几个未来潜在的研究方向。

英文摘要：

Metamorphic mechanisms make continuous development and innovation in theoretical and practical aspects along with the in-depth research focused on this kind of mechanisms.It is important to summarize and analyze the existing research results and make prospects to the future development trend,so as to promote the further development of theories and applications of metamorphic mechanisms.The origin and significance of metamorphic mechanism are introduced with respect to the current progress.Criteria for the classification of this kind of mechanisms and the approaches for implementation of metamorphosis are identified.The fundamental basis of metamorphic mechanisms is addressed in accordance with the design,kinematics and dynamics,as well as the compliant metamorphic mechanisms.The well developed topological representation,structure analysis and synthesis are summarized and the prospective applications of the metamorphic mechanisms in space exploration,modern manufacturing and robots are addressed.The potential research directions of metamorphic mechanisms are proposed.