Geometric Design of Linkages pp 281-306 | Cite as
Spatial Kinematics
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Abstract
In this chapter we develop the geometry of spatial displacements defined by coordinate transformations consisting of spatial rotations and translations. We consider the invariants of these transformations and find that there are no invariant points. Instead there is an invariant line, called the screw axis. Thus, the geometry of lines becomes important to our study of spatial kinematics.We find that a configuration of three lines, called a spatial triangle, generalizes our results for planar and spherical triangles to three-dimensional space.
Keywords
Dual Vector Screw Axis Spatial Displacement Spherical Triangle Spherical Image
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© Springer New York 2011