In 1978, Hunt found a set of vector subspaces of screws that guarantee ‘full-cycle mobility’ of linkages and exhibit remarkable properties. They are subalgebras of the Lie algebra se(3) of the Euclidean group and they are at the basis of most families of mechanisms with special motion capabilities. This paper proves the existence of screw systems that, though not being subalgebras of se(3), still exhibit important properties for full-cycle motions, namely the invariance of both the space dimension and the pitch of the principal screws. Such systems are named persistent and they are believed to play an important role in both mobility analysis and mechanism synthesis.
Carricato M., Rico Martinez J. M. (2010). Persistent Screw Systems. DORDRECHT : Springer [10.1007/978-90-481-9262-5_20].
Persistent Screw Systems
CARRICATO, MARCO;
2010
Abstract
In 1978, Hunt found a set of vector subspaces of screws that guarantee ‘full-cycle mobility’ of linkages and exhibit remarkable properties. They are subalgebras of the Lie algebra se(3) of the Euclidean group and they are at the basis of most families of mechanisms with special motion capabilities. This paper proves the existence of screw systems that, though not being subalgebras of se(3), still exhibit important properties for full-cycle motions, namely the invariance of both the space dimension and the pitch of the principal screws. Such systems are named persistent and they are believed to play an important role in both mobility analysis and mechanism synthesis.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
