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Note on Geometric and Exponential Expressions of Screw Displacement

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Book cover Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11649))

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Abstract

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.

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Acknowledgement

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

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Authors and Affiliations

  1. School of Computing, Science and Engineering, University of Salford, Salford, M5 4WT, UK

    Guowu Wei & Anthony H. Jones

  2. School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, M13 9PL, UK

    Lei Ren

Authors
  1. Guowu Wei
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  2. Anthony H. Jones
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  3. Lei Ren
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Corresponding author

Correspondence to Guowu Wei .

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Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Wei, G., Jones, A.H., Ren, L. (2019). Note on Geometric and Exponential Expressions of Screw Displacement. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_33

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  • DOI: https://doi.org/10.1007/978-3-030-23807-0_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23806-3

  • Online ISBN: 978-3-030-23807-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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