模块化可重构机器人由若干个相同的机器人模块组合装配而成，能够重构成不同的几何形态和结构，从而适应不同的作业任务要求。本论文主要对树状拓扑结构的模块化机器人的重构规划问题进行了研究，定义了构型重构的基本概念，提出了分支重构规划算法。这类模块化可重构机器人可以用树状拓扑结构图来描述。机器人的拓扑结构从自由树转化为有根树，然后分解为若干个分支结构，并按一定顺序排列，通过对各个分支结构的逐步比较和操作，完成重构过程。最后选定模块数目，进行了重构规划过程的仿真计算。结果表明，文中所述算法对于树状拓扑结构的模块化机器人的重构规划问题是有效的。关键词: 机器人; 重构规划; 可重构; 模块化; 拓扑结构Topological Reconfiguration Planning for Modular Robots ZHAO Guangtao，ZHENG Haojun (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China) Abstract: Modular reconfigurable robots consist of large number of identical modules that possess the ability to adapt their shape to suit multiple, changing tasks. This paper examines the reconfiguration planning problem of tree-like topological modular robots and defines some of the general nomenclature. And then presents a new planning algorithm for reconfiguration that allows a robot to efficiently transform between two arbitrary tree-like topological configurations. The robot topology can be transformed in a rooted tree from a free tree. The rooted trees are decomposed into several substructures arranged in some order. Reconfiguration planning will be accomplished by the stepwise comparison and operation between the substructures. Simulation and computation results show that this algorithm is efficient for tree-like topological modular reconfigurable robots.Key words: robot; reconfiguration planning; reconfigurable; modular; topological structure