柔性变胞机构的研究现状与发展

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With the characters of ser-restructufing and self-configuration, flexible metamorphic mechanism has rapidly become the research focus in the field of mechanism since been put forward. As the new direction of metamorphic mechanism, flexible meta- morphic mechanism has the dual merit of the flexible mechanism and general rigid metamorphic mechanism. According to research re- suits in recent years, the researches on flexible metamorphic mechanism were analyzed and summarized in accordance with its concept, classification, structure, kinematics as well as the dynamics. By combining with the practical application of the flexible metamorphic mechanism, the pivotal issues need to be solved at present stage of research are proposed, and the potential research directions are prospected.变胞机构具有自我重组和重构的特性，自提出以来迅速成为机构学领域的研究热点。柔性变胞机构是变胞机构新的研究方向，具有柔性机构和一般刚性变胞机构的双重优点。根据近几年的研究成果，从柔性变胞机构的概念、分类、结构学、运动学及动力学等方面对柔性变胞机构的研究进行了分析和总结。结合柔性变胞机构的实际应用，提出现阶段研究需要解决的关键性问题并对潜在的研究方向进行了展望。