中文摘要：

针对一种可重构轮式移动机器人扩展构型中重构变量问的非线性关系，采用解析结合投影几何的方法建立可重构的移动机器人的稳定性指标模型。运用粒子群算法获得了在等效稳定裕量最大前提下的移动机器人重构构型，其结果同移动机器人重构实验的结果吻合很好。机器人重构构型时应遵循几何对称原则，负载分布均衡原则以保证机器人的直行性能．为了保证机器人工作性能良好，重构参数的应限定在安全范围内．同时应采取综合折中原则，对各种相关参数进行综合平衡．移动机器人扩展构型具有非线性特点的稳定性能指标，在机器人的性能预测、任务规划和运动控制中皆具有重大理论意义和应用价值．

英文摘要：

To study non-linear relationships between reconfigurable variables governing prototypes of extensively reeonfigurable wheeled mobile robots, a model describing the main stability metrics of the mobile robots was established by combining an analytical method and a geometrical projection method. An optimized reconfigurable robot prototype was obtained using particle swarm optimization （PSO） on the premise of a maximum equivalent stability margin. The optimization results showed better consistency than those of reconfiguration tests of mobile robots. Reconfigurable prototypes of mobile robots should comply with geometric symmetry and the balanced load principle in order to allow reconfigured robots to progress unaided in a straight line. Reconfigurable parameters should create a margin of safety so as to keep the robot working well. Within this margin, the principle of trade-offs should be ap- plied to various parameters. Extensively reconfigurable mobile robots with non-linear characteristics of stability are of great theoretical significance and have applied value in performance prediction-a key requirement for task plan- ning and motion control of robots.