School of Mechantronics and vehicle Engineering;
East China Jiaotong University;
Nanchang 330013;
China;
Department of Mechanical Engineering;
Tsinghua University;
Beijing 100084;
China;
Department of Mechanical Engineering and Aerospace;
Polytechnic of Torin;
Torin 10135;
Italy;
Reconfigurable TBM thrust mechanism; Structural rigidity characteristics; Configuration matrix; Patternvector; Kinematic harmonizing equation; Dynamic compatible equation; Structural stiffness equations;