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Screw Motion
Screw theory is the algebraic calculation of pairs of vectors, also known as ''dual vectors'' – such as angular and linear velocity, or forces and moments – that arise in the kinematics and dynamics of rigid bodies. Screw theory provides a mathematical formulation for the geometry of lines which is central to rigid body dynamics, where lines form the screw axes of spatial movement and the lines of action of forces. The pair of vectors that form the Plücker coordinates of a line define a unit screw, and general screws are obtained by multiplication by a pair of real numbers and addition of vectors. Important theorems of screw theory include: the ''transfer principle'' proves that geometric calculations for points using vectors have parallel geometric calculations for lines obtained by replacing vectors with screws; ''Chasles' theorem'' proves that any change between two rigid object poses can be performed by a single screw; '' Poinsot's theorem'' proves that ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Vector (mathematics And Physics)
In mathematics and physics, vector is a term that refers to physical quantity, quantities that cannot be expressed by a single number (a scalar (physics), scalar), or to elements of some vector spaces. Historically, vectors were introduced in geometry and physics (typically in mechanics) for quantities that have both a magnitude and a direction, such as displacement (geometry), displacements, forces and velocity. Such quantities are represented by geometric vectors in the same way as distances, masses and time are represented by real numbers. The term ''vector'' is also used, in some contexts, for tuples, which are finite sequences (of numbers or other objects) of a fixed length. Both geometric vectors and tuples can be added and scaled, and these vector operations led to the concept of a vector space, which is a set (mathematics), set equipped with a vector addition and a scalar multiplication that satisfy some axioms generalizing the main properties of operations on the abov ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Chasles' Theorem (kinematics)
In kinematics, Chasles' theorem, or Mozzi–Chasles' theorem, says that the most general rigid body displacement can be produced by a screw displacement. A direct Euclidean isometry in three dimensions involves a translation and a rotation. The screw displacement representation of the isometry decomposes the translation into two components, one parallel to the axis of the rotation associated with the isometry and the other component perpendicular to that axis. The Chasles theorem states that the axis of rotation can be selected to provide the second component of the original translation as a result of the rotation. This theorem in three dimensions extends a similar representation of planar isometries as rotation. Once the screw axis is selected, the screw displacement rotates about it and a translation parallel to the axis is included in the screw displacement. Planar isometries with complex numbers Euclidean geometry is expressed in the complex plane by points p = x + y i where ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Force Wrench
In physics, a force is an influence that can cause an Physical object, object to change its velocity unless counterbalanced by other forces. In mechanics, force makes ideas like 'pushing' or 'pulling' mathematically precise. Because the Magnitude (mathematics), magnitude and Direction (geometry, geography), direction of a force are both important, force is a Euclidean vector, vector quantity. The SI unit of force is the newton (unit), newton (N), and force is often represented by the symbol . Force plays an important role in classical mechanics. The concept of force is central to all three of Newton's laws of motion. Types of forces often encountered in classical mechanics include Elasticity (physics), elastic, frictional, Normal force, contact or "normal" forces, and gravity, gravitational. The rotational version of force is torque, which produces angular acceleration, changes in the rotational speed of an object. In an extended body, each part applies forces on the adjacent pa ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
