中文摘要：

针对可重构机器人没有统一的运动学求解形式问题,提出通过构形平面匹配方法求解可重构机器人的运动学.采用改进形式的D-H建模方法,可自动形成可重构机器人运动学模型;将机器人在目标点的位形分解成若干个构形平面,通过三级构形平面的匹配,可求得具有单一串连形式可重构机器人运动学逆解;对搭建的6自由度机器人和8自由度机器人构形的运动学进行实例仿真.仿真结果表明,采用有限个构形平面匹配方法能够求解出可重构机器人运动学,验证了算法的正确性和实用性.

英文摘要：

Aiming at the problem that there are no unified methods for solving kinematics of reconfigurable modular robots,a way of matching configuration plane is presented.Based on the improved modeling method of D-H,kinematics models of reconfigurable modular robots can be formed automatically.Then,inverse kinematics solutions to the reconfigurable modular robots can be obtained in single tandem form through matching tertiary configurable planes after dividing the configurations of robots at objective points into a few configuration planes.Finally,simulation on robots with 6-DOF and 8-DOF are carried out,and the result validates the reliability and practicality of this method.