Through the kinematic analysis, the positions,speeds and accelerations of the output link as well as the other links of the planar metamorphic mechanisms can be obtained.

• 通过运动学分析,得出平面变胞机构在一个运动周期中输出杆件的位置、速度和加速度以及平面变胞机构的其他杆件的运动学参数。