Note on Geometric and Exponential Expressions of Screw Displacement
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.
KeywordsScrew 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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