Building block design method of reconfigurable machine
A modular design and machine technology, applied in the direction of instruments, calculations, special data processing applications, etc., can solve problems such as not considering design requirements, and achieve the effects of shortening the development cycle, reducing machine costs, and saving costs
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[0033] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.
[0034] As shown in Figure 1, this embodiment includes the following specific steps:
[0035] Step 1, establish a rigid body movement model in space;
[0036] Said establishing a motion model refers to using the screw method to establish the equivalent relationship between rigid body motion and spiral motion, establishing an exponential coordinate equation for rigid body motion in space, calculating the motion screw of the rigid body and obtaining the homogeneous transformation matrix of the motion Finally, the motion model of the rigid body in space is established, i...
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