Abstract
It is well established 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 Ŝ = sin 1/2ĝq ŝ, characterised by pitch P s = 1/2 σ/tan 1/2θ. This paper shows that screws of indefinitely many other functional forms may be derived, each with a correspondingly distinct definition of pitch, which in the same kinematical situations will also form sets of screws that are linearly combined with dual coefficients. As example, screws of form ŝ = sin ĝqŝ, of pitch ŝ = d/tan θ, are evaluated that describe displacement of a point-line.
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Parkin, I.A. (2008). Alternative Forms for Displacement Screws and Their Pitches. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_21
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_21
Publisher Name: Springer, Dordrecht
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