Note on Geometric and Exponential Expressions of Screw Displacement

  • Guowu WeiEmail author
  • Anthony H. Jones
  • Lei Ren
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11649)


This paper provides a comprehensive note on screw displacement. Expressions of screw displacement, including the Rodrigues’ formulae for rotation and general spatial displacement, are derived in details with geometric approach, transform operator and matrix exponential method. The geometric approach provides better physical insights and the exponential method demonstrates elegant and rigours mathematical perception. Application of the screw displacement is illustrated by the development of a RSCR-mechanism based landing gear.


Screw displacement Rodrigues formula Landing gear 



The authors wish to thank Mr Stefan Kenway for his valuable contribution in developing the prototype.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Computing, Science and EngineeringUniversity of SalfordSalfordUK
  2. 2.School of Mechanical, Aerospace and Civil EngineeringThe University of ManchesterManchesterUK

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