变胞机构起源于应用多指手进行装潢式礼品纸盒包装的研究。把能在瞬时使某些构件发生合并/分离、或出现几何奇异，并使机构有效构件数或自由度数发生变化，从而产生新构型的机构称为变胞机构。
提出可实现带有停歇的往复运动。平面变胞机构，给出运动尺度综合方法。
Planar metamorphic mechanisms for reciprocating movements with dwells are put forward and the methods of kinematic synthesis of this kind of mechanisms are given.
提出一种伞式可折叠柔性变胞机构，该机构综合了变胞机构和柔性机构两大特点。
Some characters of compliant mechanism can improve the performance and efficiency of metamorphic mechanism. An umbrella foldable compliant mechanism is proposed in this paper.
阐述了变胞机构的结构学、运动学、动力学、碰撞与冲击、控制、及其设计等若干理论问题。
Some theoretical issues of metamorphic mechanism such as structural theory, kinematics, dynamics, impact, control, and the design method, are elucidated.
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