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1 History
The proof that a spatial displacement can be decomposed
into a rotation and slide around and along a line in space
is attributed to Michel Chasles in 1830.[5] Recently the
work of Gulio Mozzi has been identied as presenting a
similar result in 1763.[6][7]
d = dL + d ,
dL = (d S)S,
d = d dL .
In crystallography, a screw axis symmetry is combination of rotation about an axis and a translation parallel
to that axis leaves a crystal unchanged. If = 360/n
for some positive integer n, then screw axis symmetry
implies translational symmetry with a translation vector
which is n times that of the screw displacement.
D(x) = (A(x) + d ) + dL .
Now, the orientation preserving rigid motion D'* = A(x)
+ d transforms all the points of R3 so that they remain in
planes perpendicular to L. For a rigid motion of this type
there is a unique point c in the plane P perpendicular to
L through 0, such that
D (C) = A(C) + d = C.
3
3.1
C = [I A]1 d ,
because d does not have a component in the direction
of the axis of A.
D(x) = D (x) + dL ,
consists of a rotation about the line L followed by a translation by the vector dL in the direction of the line L .
Conclusion: every rigid motion of R3 is the result of a
rotation of R3 about a line L followed by a translation in
the direction of the line. The combination of a rotation
about a line and translation along the line is called a screw
motion.
Geometric argument
3.2 Computing a point on the screw axis
Let D: R3 R3 dene an orientation preserving rigid motion of R3 . The set of these transformations is a sub- A point C on the screw axis satises the equation:[9]
group of Euclidean motions known as the special Euclidean group SE(3). These rigid motions are dened by
transformations of x in R3 given by
D (C) = A(C) + d = C.
D(x) = A(x) + d.
Solve this equation for C using Cayleys formula for a rotation matrix
S = cos + S sin , S2 = 1,
where [B] is the skew-symmetric matrix constructed from that denes a rotation by 2 around an axis S.
Rodrigues vector
In the proper Euclidean group E+ (3) a rotation may be
conjugated with a translation to move it to a parallel rotation axis. Such a conjugation, using quaternion homo
graphies, produces the appropriate screw axis to express
b = tan S,
2
the given spatial displacement as a screw displacement,
in accord with Chasles theorem.
such that
[B]y = b y.
5 Mechanics
5.1 Biomechanics
This parameter is often used in biomechanics, when describing the motion of joints of the body. For any period
of time, joint motion can be seen as the movement of a
The screw axis P(t)=C+tS of this spatial displacement has single point on one articulating surface with respect to the
adjacent surface (usually distal with respect to proximal).
the Plcker coordinates S=(S, CS).[9]
The total translation and rotations along the path of motion can be dened as the time integrals of the instantaneous translation and rotation velocities at the IHA for a
4 Dual quaternion
given reference time.[10]
C=
b d b (b d)
.
2b b
S = cos + sin S.
2
2
A spatial displacement of points q represented as a vector
quaternion can be dened using quaternions as the mapping
6 See also
Helical symmetry
Eulers rotation theorem rotations without translation
Screw theory
Line group
q 7 SqS 1 + d
where d is translation vector quaternion and S is a unit
quaternion, also called a versor, given by,
Space group
Corkscrew (roller coaster element)
Glide reection
References
REFERENCES
8.1
Text
8.2
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8.3
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