可重组模块机器人构形确定后 ,找出依序的连杆、关节模块 ,采用指数积 ( PME)法 ,自动生成运动学正方程 .把运动学正方程转换成相对于固定坐标系的方程 ,找出规律 ,分成 4个子问题 ,成功地运用 PME法得到自动求模块机器人逆解的算法——逆运动学指数积 ( PMEI)法 .Windows环境下正逆解的自动生成说明了该方法的可行性 . After reconfigurable module robot’s configuration is confirmed, sequential connecting rod and joint module are found out and positive kinematics equation is automatically generated by exponential product (PME) method.The positive kinematics equations are transformed into equations relative to fixed coordinate system, Find out the law and divide it into four subproblems, PME is successfully used to get the inverse kinematic exponent product (PMEI) algorithm of auto-seeking module robot.The automatic generation of forward and inverse solutions in Windows environment shows the feasibility of the method Sex.