中文摘要：

根据自重构系统的主要特点，设计了一种新型的同构阵列式模块化自重构机器人M—Cubes；基于多智能体分布式体系的控制结构，构造了多智能体的模块化自重构机器人实验平台，并给出了实验平台的设计策略、单智能体的结构设计、控制系统的硬件设计、单元模块的基本运动和机器人系统运动规划策略。利用Java3D开发了一个仿真环境，可以对控制算法进行测试评估。该试验平台的构建为进一步研究自重构机器人的控制变形算法提供了一个很好的测试平台。通过自重构机器人软硬件的评估，为进一步开发软硬件提供了一个参考度量。

英文摘要：

Under the characteristics of MSR（modular self-reconfigurable） robots, a novel homogeneous and lattice MSR robot called M-Cubes was designed. Based on distributed control structure of multi-agent, experimental platform of multi-agent MSR robot was constructured and the design strategy of the platform was given including structural design of single agent, hardware design of control system, basic motion of cell module and motion planning strategy of system. Visual simulation environment of the MSR robots was designed utilizing Java 3D technology; many control algorithms of modules were evaluated in the environment. The M-Cubes robot offers a test bed for studying control and Metamorphic Algorithm of MSR robot. Evaluation criterion of MSR robots＂ software and hardware are utilized to provide a metric for further development.