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Screw Theory – A forgotten Tool in Multibody Dynamics
Author(s) -
Müller Andreas
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710372
Subject(s) - screw theory , kinematics , multibody system , mechanism (biology) , foundation (evidence) , computer science , geometric mechanics , dynamics (music) , group (periodic table) , classical mechanics , calculus (dental) , mathematics , analytical mechanics , algebra over a field , physics , pure mathematics , archaeology , quantum mechanics , acoustics , quantum dynamics , quantum , history , medicine , dentistry
Mechanism theory, synthesis and control of robots, rigid body dynamics, geometrically exact formulations of the kinematics of continua, structure preserving numerical integration methods, and in part geometric mechanics – they all have a common denominator, namely the theory of screws, for which Lie group theory forms the mathematical foundation. This paper is an attempt to provide a short survey identifying several scientific areas where screw theory is already (sometimes implicitly) used and such where its systematic application could lead to new formulations and computational algorithms. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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