多模式机构研究进展

多模式机构作为可重构机构的一个重要分支具备运动模式转换时间短、所需驱动器少等优点，在各个领域都极具应用前景。经过20年的发展，虽然涌现出一系列多模式机构的设计、分析方法，但是多模式机构的研究仍面临诸多挑战。根据不同运动模式下的几何、结构特征，概括并详述了多模式机构利用关节轴线、杆件和多模式单元进行运动模式切换的三种形式；从方法和技术的角度，综述了多模式机构在构型设计、运动模式分析以及应用方面的国内外研究现状，并对多模式机构面临的挑战与发展趋势进行了展望。

State of the Art of Multi-mode Mechanisms

As an important branch of reconfigurable mechanisms, multi-mode mechanisms can switch their motion patterns using fewer actuators in less time and have great application potential in various fields. Although a series of design and analysis methods of multi-mode mechanisms have emerged in the past two decades, the research on multi-mode mechanisms is still challenging. According to the geometric characteristics of multi-mode mechanisms under different motion patterns, the transformations among motion patterns of multi-mode mechanisms are classified into three forms, including the utilization of joint axes, links and multi-mode units. The state of the art of multi-mode mechanisms in type synthesis, motion pattern analysis and applications are presented from the perspectives of methods and technologies. Prospects to the upcoming challenges and development trends of multi-mode mechanisms are discussed.