A motion simulation method for reconfigurable machines
by Fengfeng (Jeff) Xi, Qiang (John) Sun
International Journal of Manufacturing Research (IJMR), Vol. 3, No. 2, 2008

Abstract: In this paper, a new method is proposed for simulating the motions of reconfigurable machines. When a reconfigurable machine is reconfigured, the relative poses between adjacent modules must be redefined. Unlike the traditional modelling method that re-sets the local coordinate frames for each module relative to the preceding module, the proposed method is to define all the modules with respect to a single global coordinate frame. As such, machine modules can be readily linked through a graph-based topology platform to form an assembled reconfigurable machine and then to automatically generate the equations of motion.

Online publication date: Thu, 06-Mar-2008

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