An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist

DOI10.1016/J.MECHMACHTHEORY.2005.04.004MaRDI QIDQ2581740zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 10 January 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2005.04.004

zbMATH Keywords

finite screw displacement

Mathematics Subject Classification ID

History of mathematics in the 18th century (01A50) History of mathematics in the 19th century (01A55) History of mathematics in the 20th century (01A60) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) History of mechanics of particles and systems (70-03) Kinematics of a rigid body (70B10)

Review text

This paper is a review of theoretical developments of rigid body displacement over the last few centuries starting with the works of Mozzi (1763), Euler (1770), Chasles (1830), Rodrigues (1840) and Cayley (1843). The progress in the study of the rigid body displacements in this period and after that is traced in some detail. The applications of quaternions, biquartenions, dual angles, and screws involved in the representation of rotational motion are shortly discussed, and various historical, mathematical and philosophical comments are made by the way. The paper ends with a discussion of various developments of the finite screw displacement and finite twist representation in the second half of the 20th century.

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Cited in

(13)

• Rodrigues' spatial kinematics
• Screw axis defined by Giulio Mozzi in 1763 and early studies on helicoidal motion
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• Rotation of axes for anisotropic metal in FEM simulations
• On the linear line complex and helicoidal vector field associated with homologous lines of a finite displacement
• A hidden orthogonal Latin square in a work of Euler from 1770
• Kinetostatic analysis for compliant legged robots with ground contact forces evaluation
• Geometric methods and formulations in computational multibody system dynamics
• Application of finite screw method for multi-mode mechanism classification and determination
• On the relation between the exponential of real matrices and that of dual matrices
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