A way of relating instantaneous and finite screws based on the screw triangle product

详细信息    查看全文

• 作者：Tao Sun^a ; Shuofei Yang^a ; Tian Huang^a ; ^b ; ^{tianhuang@tju.edu.cn} ; Jian S. Dai^c
• 关键词：Robotic mechanisms ; Screw theory ; Finite screw ; Screw triangle ; Lie group and Lie algebra
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：108
• 期：Complete
• 页码：75-82
• 全文大小：305 K
• 卷排序：108

文摘

The algebraic structures of finite screws and instantaneous screws are related. The associativity and derivative properties of the screw triangle product are proved. Entire set of finite screws is proved to be a Lie group under screw triangle product. Entire set of instantaneous screws is proved to be the corresponding Lie algebra.