中文摘要：

针对大规模晶格式自重构机器人系统整体难以运动的问题，提出了通过局部晶格畸变实现晶格式系统整体运动的方法．给出了一种晶格畸变的规则，并根据此规则设计了一种模块结构，用离散置换群对此模块的重构运动特征进行了分析．利用由6个模块组成的2个晶格进行了畸变硬件实验，验证了这种结构模块组成的晶恪可以实现品格畸变．基于Vortex＋OSG的高保真虚拟仿真平台，通过52个模块组成的晶格式机器人系统进行了蛇形运动的计算机仿真，结果证明了局部品格畸变产生全局运动方法的有效性．

英文摘要：

For the difficulty of the large-scale lattice self-reconfigurable robot system moving as an ensemble, a novel method to achieve the whole motion through local lattice distortion is proposed. One of lattice distortion rules is given, a module structure is designed according to this rule, and the reconfiguration features of this module are analyzed with discrete substitution groups. Through a physical distortion experiment with 2 lattices consisted of 6 modules, it is validated that the lattice distortion can be achieved by the lattice composed of these modules. Through the high-fidelity virtual simulation platform based on Vortex＋OSG, snake-like motion computer simulation of a lattice robot system consisted of 52 modules is conducted, and the results show that the proposed method can yield global motion through local lattice distortion.