Abstract
It is well known that a general displacement of a rigid body may be regarded as a finite twisting motion upon an axis in space. Such a twist axis may be treated as a screw when a measure of pitch appropriate to finite twists is used. The author has recently shown that when the displacement of a specialised, axi-symmetric, body is considered, each of the infinity of finite twist screws which are then available for the displacement is a linear combination of just two of their number.
This result is here exploited to derive parameters of the finite twist axis for displacement of a generally shaped body.
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© 1991 Springer-Verlag Wien
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Parkin, I.A. (1991). On Determining Parameters of the Twist-Axis for the Finite Displacement of a Body. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_9
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_9
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
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