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Robot passive joints are considered separately as connection constraints.
To ensure proper connectivity between adjacent PBCs, heat sinks originally used in thermal conduction problem are employed as connection constraints.
In addition, it is object oriented so that each modular component is an element with a submodel and the overall model can be assembled from submodels subject to the connection constraints.
(1) Connection constraints design.
According to the types of connection, the mobility constraints are classified into movable connection and stable connection constraints [24].
From Fig. 12, we can see that a topology designed using the combination method performs better than a topology designed using an integer linear programming (ILP) model with the equal degree and node connection constraints.
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Furthermore, based on the connection constraint on any inter-die signal, the capacity constraint on any assigned pad on dies and the crossing constraint between two inter-die signals, an integer linear programming-based (ILP-based) approach is proposed to assign all the inter-die signals to minimize the total wirelength in a die-stacking SiP design.
The physical optimization model of bed bolt connection constraint is established.
From the above, the design of connection constraint domain of a part needs to completely consider multi-condition loads.
Due to the complexity for the working conditions of the part, the connection constraint domain will change with working conditions.
Therefore, the connection constraint position sizes can be selected as the main optimization variables in optimizing the sizes of bolt connection structure.
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