自重构模块机器人的研究与发展现状

自重构模块机器人能够根据工作任务及工作环境的变化而自动改变自身的结构配置，构成与其相适应的最佳构形，完成操作任务，不但扩大了机器人的应用范围，更由于模块的均一性和互换性降低了制造及维护成本，提高了操作的可靠性，介绍了该领域的国内外发展状况，总结了主要研究方法及存在的主要问题，提出了自重构模块机器人的发展方向。

Research and Development Status of Self-reconfigurable Modular Robot

In order to finish a manipulation task,a self-reconfigurable modular robot can adapt itself to the best configuration automatically according to the task and environment. It extends not only the coverage of the robot application, but also reduces manufacture and maintenance cost, enhances reliability of the manipulation, owing to the module homogeneity and interchangeability. This paper introduces its development status, concludes its key issues and research methods, and presents its future research topics.