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中文摘要：
给出了M-Cubes自重构模块的实物模型,介绍了该实物模型的机械结构及对接特点;根据实物模型的特征用有限元对单个模块进行了建模。模块在对接及运动过程中,受外界因素的影响,会发生变形,采用有限元对模块进行了变形分析。通过对变形结果的分析,提出了模块可靠、有效、正确对接所遵循的必要条件,为M-Cubes机器人系统能成功地完成自重构运动提供了有效的指导。
英文摘要：
The mechanism structure and docking process of the urable robot were shown and introduced, and a finite element model M- Cubes modular self- reconfig was built according to its structure characteristics. When the module was connected, it will be distorted by the outside factors. The finite element method was used to analyze the distortion. With the distortion results, the basic condition that the modules can connect with each other was proposed,and the conclusion gives a proper guidance for the M-Cubes robot to complete the self-reconfigurable motion.
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