形状可变机构是一类能够以可控方式改变自身轮廓外形的机构，在航空航天、工业制造、仿生机器人等领域拥有广阔的应用前景。作为近年来的新兴课题，对该类机构综合方法的研究尚处于起步阶段。现有的形状可变机构综合方法存在理论体系不完善、设计过程不直观以及设计效率低下等问题，制约了该类机构大规模应用。为此，本文以形状可变机构为研究对象进行以下方面内容的研究：

         首先，由3条曲线定义的变形任务出发，通过对曲线预处理求解出平均轮廓，再将平均轮廓分割为数个链节组成的刚体链。为了降低机构的控制难度，对各链型刚体链添加RR杆，确定了3种类型的单自由度铰链形状可变机构的基本结构。

         其次，基于刚体导引理论，建立了铰链二杆组综合模型。结合所建立的模型给出了两种类型链头四杆机构的尺寸综合方法，进一步拓展出铰链形状可变多杆机构的尺寸综合方法。通过选取不同的设计变量，所提方法理论上可以得到无穷多个满足变形任务要求的形状可变机构。经过对机构的运动过程分析，给出了形状可变机构的缺陷类型，提出了基于位置正演的机构缺陷识别方法。此外，还对机构的传动性能进行了分析，引入链节传动角作为机构的传动性能指标。

         再次，出于丰富形变机构动力原件类型的目的，将PR杆引入至形状可变多杆机构，得到了含单移动副形变机构。按照同铰链形状可变机构相同的研究思路，给出了含单移动副形变机构的尺寸求解方法与缺陷识别方法。为了提高机构的设计效率，结合机构解域综合理论，给出了一种形状可变机构的解域分析及寻优方法。该方法既可以由机构属性图反映出设计变量对机构各运动学属性的影响，又可以通过施加运动学约束筛选出满足设计要求的最优机构。

         最后，根据本文提出的形状可变机构综合与解域寻优方法，借助MATLAB GUI软件编程平台开发了形状可变机构综合及寻优软件，验证了所提方法的可行性及正确性。同时，为设计人员提供了高效的形状可变机构设计工具。使用该软件完成了变形机翼机构的设计并对两个最优机构分别进行了运动仿真。仿真结果表明，两机构均运行平稳，无卡死情况。

        Shape-changing mechanisms are a class of mechanisms that can change their own contour shape in a controllable way, and have a broad application prospect in aerospace, industrial manufacturing, bionic robotics and other fields. As an emerging topic in recent years, the research on the synthesis method of this type of mechanism is still in the initial stage. The existing comprehensive method of shape-variable mechanism has problems such as imperfect theoretical system, unintuitive design process and low design efficiency, which restricts the scale application of this type of mechanism. For this reason, this paper takes the shape-variable mechanism as the research object to carry out research in the following aspects:

        Firstly, starting from the deformation task defined by the 3 curves, the average contour is solved by preprocessing the curves, and then the average contour is partitioned into a rigid-body chain composed of several links. In order to reduce the control difficulty of the mechanism, RR rods are added to each link-type rigid body chain, and the basic structures of three types of single-degree-of-freedom hinged shape-variable mechanisms are determined.

        Secondly, a comprehensive model of hinged two-bar group is established based on the rigid body guidance theory. The dimensional synthesis methods of two types of chain head four-bar mechanisms are given in combination with the established model, and the dimensional synthesis methods of hinged shape-variable multibar mechanisms are further extended. By selecting different design variables, the proposed method can theoretically obtain an infinite number of shape-variable mechanisms that meet the requirements of deformation tasks. After analyzing the motion process of the mechanism, the defect types of the shape-variable mechanism are given, and the defect identification method of the mechanism based on positional orthogonal evolution is proposed. In addition, the transmission performance of the mechanism is also analyzed, and the link transmission angle is introduced as the transmission performance index of the mechanism.

          Thirdly, for the purpose of enriching the types of power elements of the deformation mechanism, PR rods are introduced into the shape-variable multibar mechanism, and the deformation mechanism with a single moving sub is obtained. Following the same research idea as that of the hinged shape-variable mechanism, the dimensional solution method and defect identification method of the deformation mechanism with a single moving sub are given. In order to improve the design efficiency of the mechanism, a solution domain analysis and optimization method for the shape variable mechanism is given by combining the solution domain synthesis theory of the mechanism. The method can not only reflect the influence of design variables on the kinematic properties of the mechanism by the mechanism property diagram, but also screen out the optimal mechanism that meets the design requirements by imposing kinematic constraints.

        Finally, according to the synthesis and solution domain optimization method of shape variable mechanism proposed in this paper, the synthesis and optimization software of shape variable mechanism is developed with the help of MATLAB GUI software programming platform, which verifies the feasibility and correctness of the proposed method. At the same time, it provides designers with an efficient design tool for shape-variable mechanisms. The design of the deformed wing mechanism was completed using this software and the motion simulation of the two optimal mechanisms was carried out respectively. The simulation results show that both mechanisms operate smoothly without jamming.