An Introduction to Screw Theory

Chen Qiu; Jian S. Dai

doi:10.1007/978-3-030-48313-5_2

An Introduction to Screw Theory

Chen Qiu^*, Jian S. Dai

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

2 Citations (Scopus)

Abstract

In this chapter, screw theory is introduced as a preliminary study to give readers an overview of screw theory and its application in compliant mechanism designs. The definition of a screw, as well as the key screw operations, are given in Sect. 2.2, such as the interchange operation of a screw, the screw coordinate transformation and the reciprocal product of two screws. Then the concept of the screw system is introduced in Sect. 2.3, which is an extension of the screw in a group form. Several typical screw systems are defined according to the reciprocal relationship between screws, notably the reciprocal screw system and repelling screw system. Further, the concepts of the screw and screw system are extended to describe the twist and wrench in Sect. 2.4, which are the two fundamental concepts in the further study of compliant mechanisms.

Original language	English
Title of host publication	Springer Tracts in Advanced Robotics
Publisher	SPRINGER
Pages	17-31
Number of pages	15
DOIs	https://doi.org/10.1007/978-3-030-48313-5_2
Publication status	Published - 1 Jan 2021

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	139
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

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10.1007/978-3-030-48313-5_2

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AB - In this chapter, screw theory is introduced as a preliminary study to give readers an overview of screw theory and its application in compliant mechanism designs. The definition of a screw, as well as the key screw operations, are given in Sect. 2.2, such as the interchange operation of a screw, the screw coordinate transformation and the reciprocal product of two screws. Then the concept of the screw system is introduced in Sect. 2.3, which is an extension of the screw in a group form. Several typical screw systems are defined according to the reciprocal relationship between screws, notably the reciprocal screw system and repelling screw system. Further, the concepts of the screw and screw system are extended to describe the twist and wrench in Sect. 2.4, which are the two fundamental concepts in the further study of compliant mechanisms.

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An Introduction to Screw Theory

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