About cookies on this site Our websites require some cookies to function properly (required). In addition, other cookies may be used with your consent to analyze site usage, improve the user experience and for advertising. For more information, please review your options. By visiting our website, you agree to our processing of information as described in IBM’sprivacy statement. To provide a smooth navigation, your cookie preferences will be shared across the IBM web domains listed here.
Paper
Application of Line geometry to theoretical kinematics and the kinematic analysis of mechanical systems
Abstract
The theory of screws as developed by R. S. Ball, is concerned principally with rigid-body motions in three-dimensional Euclidean space. A number of scattered references, notably F. Klein [18], have mentioned algebraic approaches to the subject. In this paper which is essentially tutorial, we have used concepts of line geometry in order to present such a self-contained algebraic formulation. Other approaches to the subject, which are not considered here, are possible and useful: for example, motor algebra (F. M. Dimentberg) and surface geometry (K. H. Hunt, K. J. Waldron). The algebraic treatment is both general and well-adapted to kinematic analysis and numerical methods. These applications have been described. © 1970.