可重构异构系统结构研究 关键词：异构；重构互连控制器；可重构模块 ‘ [gap=905]Key words：heterogeneous；reconfigurable cormeetion controller；reconfigurable module
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构形设计是可重构模块化机器人设计的重要内容之一。
Configuration design is an important content of reconfigurable modular robot design.
该方法可应用于具有不同构形的机器人系统，特别适用于可重构模块化机器人的控制。
This method can be applied to robot system with variant configurations, especially for the control of the reconfigurable robot.
本文主要对可重构模块化机器人的模块设计和构形设计的原理以及运动学进行了一些初步的研究。
In the thesis, the principles of modular design and configuration design as well as kinematics design of reconfigurable modular robots will be studied with attempt.
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