Journal ArticleDOI
Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 1—Screw Coordinates
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This article is published in Journal of Engineering for Industry.The article was published on 1971-02-01. It has received 43 citations till now. The article focuses on the topics: Kinematics & Statics.read more
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An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist
TL;DR: The development of the finite twist has attracted much attention in the field of theoretical kinematics and the proposed q-pitch with the tangent of half the rotation angle has demonstrated an elegant use in the study of rigid body displacements as discussed by the authors.
Journal ArticleDOI
A Comparison of Representations of General Spatial Screw Displacement
TL;DR: In this paper, a comparison of eight methods of representing a general spatial rigid-body screw displacement is made between point transformations and line transformations, and the most commonly used representation is the 4 × 4 real matrix and the conclusion is that this is certainly the best of the point transformations.
Journal ArticleDOI
Kinematics of spatial linkages by group algebra: A structure-based approach
TL;DR: In this article, the theoretical fundamentals for a structure-based, unified approach to the kinematics of spatial linkages are presented according to the subdivision of rigid displacements into elementary subspaces of known properties.
Journal ArticleDOI
A unified representation of spatial displacements
Manfred Hiller,Christoph Woernle +1 more
TL;DR: In this paper, it is shown that finite screw displacements can be obtained by integration of an associate differential equation for the infinitesimal screw displacement, which is based on the screw displacement pair, the dual-number extension of the rotational displacement pair.
Related Papers (5)
Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms
Application of Line geometry to theoretical kinematics and the kinematic analysis of mechanical systems
L. Woo,Ferdinand Freudenstein +1 more