The chapter examines the subspaces of a space spanned by three twists (or wrenches) with finite pitches and linearly independent directions. The main result is the complete characterization of all cylindroids nested within a general three-system of screws. The findings are illustrated by means of the prestereographic model of three-dimensional projective space, which allows to faithfully represent the screws of a three-system, with their pitches and axis locations, by the surface of a sphere.

Characterization of the Subsystems in the General Three-System of Screws

CARRICATO, MARCO;
2014

Abstract

The chapter examines the subspaces of a space spanned by three twists (or wrenches) with finite pitches and linearly independent directions. The main result is the complete characterization of all cylindroids nested within a general three-system of screws. The findings are illustrated by means of the prestereographic model of three-dimensional projective space, which allows to faithfully represent the screws of a three-system, with their pitches and axis locations, by the surface of a sphere.
Advances in Robot Kinematics
253
261
Marco Carricato; Dimiter Zlatanov
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/295522
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