中文摘要：

针对可重构机器人单元模块结构及对接机构的局限性,提出了一种可移动重构机器人模块单元,该单元具有12种连接方式,设计了一种独特的正弦加速度传动槽与插销组合的对接锁紧机构。针对可重构机器人几何构型参数的不确定性问题,构建双模块空间方位变换表,基于递归牛顿-欧拉方法提出多支链机器人系统的动力学方程自动生成方法,并给出自动生成的算法流程。最后以6个模块组成的双支链构型为例,进行了自动生成动力学方程的计算与仿真分析,验证了该自动建模方法的可行性和有效性。

英文摘要：

The docking mechanical design and automatic generation of dynamics for a novel reconfigurable robot was studied. A novel unit module of the mobile modular reconfigurable robot（ M2 r Bot） with twelve connection ways was firstly presented,which would enable the multiple-module robot to revolute with multi-directional rotational degree of freedom. The unit module was cubic structure with one active and three passive connection surfaces with compact structure and flexible motion. By using a new type of transmission groove with a sine acceleration curve and a pin-hole connection,the docking mechanism design was also accomplished. The mathematical transformation description table for describing the double modules＇ space pose transformation（ DMSPT） was then established,and the forward kinematics equations of the multi-branched chain robot were automatically derived. The dynamic equations of the M2 r Bot were also automatically generated in two steps by using geometrical formulations and the recursive Newton-Euler method,which was based on the global matrix description. And the algorithm of automatic generation of motion equations was also given based on DMSPT. Finally,taking the six-module configuration with two branches as an example,the calculation and simulation analyses of automatical generation of motion equation demonstrated the feasibility and validity of the proposed method. The simulation results will be directly used in the design of the adaptive controller applied to the different configurations for the multi-branched chain robot.