Four-Dimensional Persistent Screw Systems of the General Type

  • Marco CarricatoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


When a mechanism moves, the twist system \(S\) of the end-effector generally varies. In significant special cases, \(S\) is a subalgebra of the Lie algebra of the special Euclidean group, and it remains constant. In more general cases, \(S\) remains invariant up to a proper isometry, thus preserving its class. A mechanism of this kind is said to generate a persistent screw system (PSS) of the end-effector. PSSs play an important role in mobility analysis and mechanism design. This paper presents the serial generators of \(4\)-dimensional PSSs with a constant class of the general type.


Screw theory Mechanism synthesis Mobility analysis 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Industrial Engineering and Interdepartment Center for Health Sciences and TechnologiesUniversity of BolognaBolognaItaly

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