Abstract: The general reconfigurable cuboids modular unit structure model is presented, and its assembled surfaces are defined. According to its geometry shape and the symmetry of its assembled surfaces, its assembly characters are analyzed. Considering the structure and running characters of turning joints of robot, three types of reconfgurable unit models for the swinging, rotating and assistant unit are builted, that make up of the basic assembly elements of reconfigurable robot system. With the combinatorics theory, their assembly characters are studied separately according to the unit geometry structures. As a sample, a real five-legged walking robot is assembled with these basic units, which shows that the reconfigurable units are feasible and applied.

Key words: Assembly, Reconfigurable, Robot, Unit