Mechanism kinematic analysis of CNC woodworking engraving machine

Numerical control woodworking engraving machine kinematics is the focus of the research of hand ( Here is the carving knife) Posture and movement, and appearance of parts of the hand and CNC woodworking engraving machine size, type of kinematic pair of each bar and the mutual relationship between rod directly associated, so to study hand relative to the base of geometrical relationship, must first analyze the relationship of the two adjacent bar, so want to make sure of CNC woodworking engraving machine bar coordinate system, then use CNC woodworking engraving machine bar coordinate transformation matrix between the coordinate transformation.