中文摘要：

提出了一种基于万向式关节的模块化自重构机器人——UBot．该机器人模块结构紧凑、刚性好、运动灵活，具有运动、重构和处理任务的能力．它由许多标准模块组成，模块均采用万向式结构的正立方体外形，具有4个可以与相邻模块连接／断开的连接血．设计了钩爪式连接机构，它可以快速可靠地与相邻模块连接／断开，该连接机构连接后具有自锁功能，节省能量．设计了模块电气系统．最后进行了连接机构和机器人运动实验，证明了UBot系统的可靠性和运动灵活性．

英文摘要：

A modular self-reconfigurable robot based on universal joint is presented, namely UBot. The UBot module is of compact structure, high strength and flexible movement, and is capable of performing efficient locomotion, self- reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is of cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hooktype connecting mechanism is designed, which can connect to or disconnect from adjacent modules quickly and reliably. This mechanism can self-lock after connection, and is of energy-saving. The electrical system of module is designed. Finally, through the experiments of the connecting mechanism and UBot locomotion, the reliability and flexibility of UBot system are proved.