中文摘要：

为准确描述重构过程中自重构机器人的拓扑关系，提出一种基于关联矩阵的UBot自重构机器人拓扑描述方法．在分析UBot自重构机器人系统的模块运动特性的基础上，建立了重构过程中关节状态表；对模块间可能存在的连接和方位关系进行分析，建立了一种二进制数表达法；以蠕虫构型为例，建立了其对应的数学拓扑描述矩阵．该矩阵不仅描述了模块的地址、模块连接状态和方位关系信息，还准确表达了各个模块的关节角状态信息．该拓扑描述方法为自重构机器人的构型匹配和重构算法研究提供了一定的理论基础．

英文摘要：

For describing the topology information in the reconfiguration process of self-reconfigurable robot, an UBot self-reeonfigurable robot topology description method based on incidence matrix is proposed. At first, a joint state table during the reeonfiguration process is built up based on the analysis of the module, motion characteristic of UBot self-reconfigurable robot system; and then a binary number representation is developed by analyzing the linkage and position relation that may exist among modules ; finally, taking worm configuration as example, the corresponding topology description matrix is obtained, which can describe not only the information of module address, module connection status and position relation, but also the joint angle status information of each module exactly. This topology description method is helpful to the research of configuration matching and reeonfiguration algorithm of reconfigurable robot.