中文摘要：

设计了一种新型的混合型自重构机器人,该机器人由呈三棱柱形的主-从式基本模块组成,每个主模块包括3个主驱动电机及齿轮减速装置,每个从模块包括2个从驱动电机及齿轮-齿条传动装置。基于基本模块的几何特征及空间转换矩阵,描述了该自重构机器人的4种基本空间构型,为机器人的自重构运动打下基础。

英文摘要：

A new hybrid self-reconfigurable modular robot which is composed of several triangular columnar master-slave modular is designed.The basic module consists of a master module and a slave module.There are three main drive motors and corresponding gears in each master module,and two drive motor in each slave module.Based on the structure of the connection ports,the analysis of the connection ports’motion is given.The description of the basic spatial configuration of the self-reconfigurable modular robot is given based on the geometric characteristics of the basic module.