Reconfigurable motion modeling method for planar magic cube mechanism and planar magic cube mechanism

The invention provides a reconfigurable motion modeling method for a plane magic cube mechanism, which comprises the following steps of: determining initial rotating shafts and initial revolute pair contact surfaces of a plane magic cube, determining all rotating shaft and revolute pair contact surfaces of the plane magic cube, determining a distance among a first exchange block and a second exchange block on each rotating shaft and the rotating shaft, performing reconfigurable synthesis of the plane magic cube mechanisms to obtain a plurality of plane magic cube mechanisms meeting reconfigurable motion conditions; determining whether bifurcation exists or not, if yes, determining that reconfigurable motion can be generated, otherwise, determining that the reconfigurable motion cannot be generated. The plane magic cube mechanism is provided based on the method. According to the reconfigurable modeling method for the plane magic cube mechanism, the rotating operation of the magic cube is changed by modifying t