GEOMETRY OF SCREW SYSTEMS .1. SCREWS - GENESIS AND GEOMETRY

被引:121
作者
GIBSON, CG [1 ]
HUNT, KH [1 ]
机构
[1] MONASH UNIV,DEPT MECH ENGN,CLAYTON,VIC 3168,AUSTRALIA
关键词
D O I
10.1016/0094-114X(90)90103-Q
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In this two-part paper (Part 2: Mech. Mach. Theory 25, 11-27; 1990) we claim to present, definitively and exhaustively, all "screw systems", namely all possible linear combinations of given instantaneous screws. In kinematics, screw systems are central to multi-freedom devices, in particular those prevalent in robotics. We justify our work mainly because, first, there appears to be uncertainty in the minds of some as to the completeness of earlier efforts to define all screw systems, and, second, our approach, via projective five-space, throws valuable light on screw theory, and so has promise of other applications. In Part 1 we introduce lines and screws, and present the relevant geometry of projective five-space for their representation in it. © 1990.
引用
收藏
页码:1 / 10
页数:10
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