多模式机构研究进展

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.