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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 2

A Brief Introduction to Screw Theory

Abstract

Screw theory is briefly introduced. It describes the basic knowledge about the screw theory from aspects such as the Plücker column vector of a line, motion description of the rigid body, the screw description of the motion and force, the reciprocal product of the screw and its geometry significance, the linear combination of screw and the principal screws in a screw system.

Keywords

Screw theory; Plücker vector; Motion screw; Force screw; Principle screw; Screw matrix

Screw theory started at the second half of the image century from the study on line geometry by Plücker [14]. In 1900, the publication ...

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