The Existence and Uniqueness Theorem of the Screw Tensor for the Finite Displacement of a Rigidbody

Yu xin

Article Contents

Article Navigation > Applied Mathematics and Mechanics > 1984 > 5(3): 355-362

Yu xin. The Existence and Uniqueness Theorem of the Screw Tensor for the Finite Displacement of a Rigidbody[J]. Applied Mathematics and Mechanics, 1984, 5(3): 355-362.

Citation:

Yu xin. The Existence and Uniqueness Theorem of the Screw Tensor for the Finite Displacement of a Rigidbody[J]. Applied Mathematics and Mechanics, 1984, 5(3): 355-362.

Citation:

Yu xin. The Existence and Uniqueness Theorem of the Screw Tensor for the Finite Displacement of a Rigidbody[J]. Applied Mathematics and Mechanics, 1984, 5(3): 355-362.

PDF( 450 KB)

The Existence and Uniqueness Theorem of the Screw Tensor for the Finite Displacement of a Rigidbody

Yu xin

South China Institute of Technology, Guangzhou

Received Date: 1983-01-04
Publish Date: 1984-06-15

Abstract

Abstract

The existence and uniqueness theorem of the screw tensor for the finite displacement of a rigidbody is proposed and then proved using the screw calculus. As a conseguence, formulae are obtained for determining the screw tensor in terms of the finite displacement data of the rigidbody.

FullText(HTML)

References(11)

References

[1]	(1) Dimentberg,F.,The Theory of Screws and its Applications,Nauka,Moscow,(1978).(in Russian).
[2]	(2) Roth,R.,The kinematics of motion through finitely separated positions,J.Appl.Mech.,Vol.34,No.3,Trans.ASME,Series E,Col.89,(1967),pp.591-598.
[3]	(3) Roth,B.,Finite position theory applied to mechanism synthesis,J.Appl.Mech.,Vol.34,No.3,Trans.ASME,Series E.,Vol.89,(1967),pp.599-605.
[4]	(4) Roth.B.,On the screw axis and other special lines associated with spatial displacements of a rigid body,J.Eng.for Ind.,Trans.ASME,Series B,Vol.89,NO.1,(1967),pp.102-110.
[5]	(5) Wittaker,E.T.,A Treatise on the Analytical Dynamics of Particles and Rigid Bodies,Cambridge University Press,(1937).
[6]	(6) Pars,L.A.,A Treatise on Analytical Dynamics,Heinemann,London,(1965).
[7]	(7) Gibbs,J.W.and E.B.Wilson,Vector Analysis,Charles Scribner's Son,(1909),(Dover Publication,1960).
[8]	(8) Yu Xin,Foundation of Rigidbody Mechanics,South China Institute of Technology,(1981).
[9]	(9) Yu Xin,On the Application of Screw Calculus to the Mechanics of Spatial Mechanisms,(an analysis of the general five-link mechanism with screw pairs).(to be published by the symposium on "Applied Mathematics and Mechanics").
[10]	(10) Yu Xin,The Mechnaics of Mechanical Manipulators with six Degrees of Freedom-An analysis by Means of the Screw Calculus.(to be published).
[11]	(11) Tsai,W.L.and B.Roth,Incompletely Specified Displacements: Geometry and Spatial Linkage Synthesis,J.Eng.for Ind.,Trans,ASME,Series B,Vol.95,(1973),pp.603-611.