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中文摘要：
给出了一种新颖的点阵晶格型自重构机器人的基本模块，该模块由1个中心体及6个旋转面组成。中心体内由相互正交的6个锥形齿轮组成机械传动结构，完成1个电机驱动6个旋转面转动的功能，旋转面上对称布置一轴和一孔，由旋转面的旋转、前进，完成相邻两模块相应旋转面上的轴插入相应孔中的对接任务。分析了空间模块间的可能运动，并用由3个模块和1个底座组成的自重构机器人系统来说明所设计模块结构的可行性。
英文摘要：
A novel module of a lattices-based self-reconfigurable robots was presented. Each module consisted of a cube and six rotary sides. There were six cone-shaped gears to finish the inner transmission. A motor worked and six sides to be rotated. There was one peg and one hole in each rotary side to finish two neighboring modules docking action. The possible 3-D motions among modules of the self-reconfigurable robots were analyzed. At last, a self-reconfigurable robot system consisting of three modules and one base was presented to verify the structural design of the module.
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