Linear systems of tan-screws for finite displacement of a rigid body with symmetries

被引：0
|
作者：
Parkin, IA [1 ]
机构：
[1] Univ Sydney, Basser Dept Comp Sci, Sydney, NSW 2006, Australia
来源：
ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND CONTROL | 1998年
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D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
It has been known for some time that finite displacement screws effective for the (incompletely specified) relocation of a body with symmetries form linearly combined sets if they are of a sin-screw form (S) over cap = sin <(theta)over cap> (s) over cap, characterised by pitch P-S = sigma/tan theta. ((s) over cap, \(s) over cap\ = 1, is the unit line of the Mozzi-Chasles screw-axis and <(theta)over cap> = theta+epsilon sigma is the dual half-angle of the displacement.) This paper shows that screws of a tan-screw form, (T) over cap = tan <(theta)over cap> (s) over cap, characterised by pitch P-T = 2 sigma/sin2 theta, enjoy the same properties of linear combination.
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页码：317 / 326
页数：10
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