【摘要】 提出了变自由度变胞机构结构的3种分类，从8个方面总结了变胞机构的结构特征。研究了变自由度变胞机构的自由度，基于自由度计算公式，研究了从构态i到构态i+1机构相邻两构态的第二类自由度按增加的变化规律。设计了一种新型的刚柔体变胞机构，为研究水下环境的变胞机构动力学、适应变胞控制和姿态优化控制算法及姿态平衡控制算法奠定了坚实的基础。更多还原

【Abstract】 In this paper, three types of variable-degree-of-freedom metamorphic structures are firstly proposed, and the structural characteristics of the metamorphic mechanisms are summarized from 8 aspects. The increasing law of the second degree of freedom of the two adjacent configurations from configuration i to configuration i + 1 is studied, and a new rigid-flexible metamorphic structure is designed, which lays a solid foundation for studying the dynamics of metamorphic structure, adaptive metamorphic control, attitude optimization control algorithm and attitude balance control algorithm in underwater environment.更多还原