The contribution presents the properties and applications of screw systems generated from the addition of subalgebras of the Lie algebra, se(3), of the Euclidean group, SE(3). It is shown that these screw systems have important properties related with the mobility of kinematic chains formed with these screw systems.

Volume Subject Area:
34th Annual Mechanisms and Robotics Conference
Topics:
Screws, Kinematic chains, Lie algebras, Mechanical admittance
This content is only available via PDF.
Copyright © 2010
 by ASME
You do not currently have access to this content.