On the one-parameter dual spherical motions (Q631059)

The authors consider a line geometry analysis of spatial kinematics. In particular, the istantaneous screw axis (ISA) of a moving body describes a pair of ruled surfaces, i.e., the moving axode and the fixed axode, where ISA is the generating line in the moving space and in the fixed space, respectively. The authors provide expressions of the axodes and of their invariants. This analysis is mainly based on E. Study's dual line coordinates; the set of oriented lines in the three-dimensional Euclidean space is in biunivocal relation with the points of the dual unit sphere, so ruled surfaces in the three-dimensional Euclidean space are in biunivocal relation with the curves on dual unit sphere. The paper concludes with an example illustrating the application of the obtained formulas.