Form-shaping Function: Mathematical Formulation


The mathematical model of the rigid body presents the Cartesian coordinate frame SOXYZ associated with the body (Fig. 3.1). The origin O and the X-, Y-, and Z-axis are usually associated with the mechanical and manufacturing bases of the link, such as guideways surfaces, axes, accurate planes and cylindrical surfaces, local supports, etc. The point K of the rigid body (Fig. 3.1a) is defined through the Cartesian coordinated xK, yK, and zK presenting elements of a position vector:

3.1Geometric and kinematic subjects
3.2Form-shaping system
3.3Form-shaping function formulation

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