Aiming at the problem that there are no unified methods for solving kinematics of reconfigurable modular robots,a way of matching configuration plane is presented.Based on the improved modeling method of D-H,kinematics models of reconfigurable modular robots can be formed automatically.Then,inverse kinematics solutions to the reconfigurable modular robots can be obtained in single tandem form through matching tertiary configurable planes after dividing the configurations of robots at objective points into a few configuration planes.Finally,simulation on robots with 6-DOF and 8-DOF are carried out,and the result validates the reliability and practicality of this method.