中文摘要：

提出了一种新的晶格可畸变的自重构机器人系统LDSBot，其4个模块可以组成一个平面并联机构式的晶格．首先将晶格简化成“移动副一旋转副一移动副”的等效串联机构，并进行运动分析；然后，根据旋量理论的指数积公式建立正向运动学模型；最后根据模块结构约束和晶格畸变运动约束，利用蒙特卡罗方法对二维和三维晶格的可达工作空间进行求解．结果表明，该晶格式机器人系统具有良好的空间可达性，为大规模自重构机器人系统的应用奠定了基础．

英文摘要：

A new lattice distortion self-reconfigurable robot system, called LDSBot, was presented,whose four modules could configure a type of planar parallel mechanism lattice. Firstly, motion analysis was per formed through simplifying the lattice to a ＂P-R-P＂ serial mechanism. Secondly, the forward kinematics model was built based on product of exponentials of screw theory. Finally, the reachable workspaces of two dimensional lattice and three dimensional lattice were solved, using Monte Carlo methods, according to constraints of the modular structure and motion constraints of the lattice distortion. The results show that this lattice robot system has good spatial accessibility, which can provide application basis for large scale self-reconfigurable robot systems.