November 2013
Intermediate to advanced
496 pages
12h 40m
English
book
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
by Jingshan Zhao, Zhijing Feng, Fulei Chu, Ning Ma
Content preview from Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
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Chapter 2
A Brief Introduction to Screw Theory
Abstract
Screw theory is briefly introduced. It describes the basic knowledge about the screw theory from aspects such as the Plücker column vector of a line, motion description of the rigid body, the screw description of the motion and force, the reciprocal product of the screw and its geometry significance, the linear combination of screw and the principal screws in a screw system.
Keywords
Screw theory; Plücker vector; Motion screw; Force screw; Principle screw; Screw matrix
Screw theory started at the second half of the 
century from the study on line geometry by Plücker [1–4]. In 1900, the publication ...
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