论述了描述变胞机构构态变换的矩阵表达方法,提出一种能描述变胞机构构态所有结构信息的拓展全息矩阵.通过检索该矩阵,可获得机构中运动副数、构件数、多元构件、多元复绞、多元构件结构尺寸、构件间的连接关系等所有运动链结构信息,增加拓展列表达机构的原动件及机架等运动学参数.分析了3种典型构态变换公式(构件数目增加、减少及运动副类型改变),通过一个案例论证了该矩阵和构态变换公式的正确性.提出了一种新的表达机构所有结构和运动学信息的矩阵,基于此实现了变胞机构变胞和运动学分析的程序化设计.%The paper discusses a matrix expression method for the configuration transformation of metamorphic mechanism.A matrix with whole information can describe all structural information on metamorphic mechanism,and we put forward its configuration transformation formula.The retrieval of the matrix can help obtain a lot of information,including number of kinematic joints,number of multiple components,number of multiple joints,size of multiple components,link connectivity,etc.The retrieval of its extension matrix produces kinematic parameters of the driving link and housing of the metamorphic mechanism.A case study demonstrates that this method can describe the driving link that is attached to another in the process of link increase or decrease and that the properties of the kinematic pair change obviously and completely without the need to renumber the initial configuration links.
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