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SCREW THEORY
- MANAN KALASRIYA
Screw theory is a powerful mathematical tool for the analysis of
spatial mechanisms.
The vectors (S;S0) are called the Plucker coordinates of the line and
satisfy the orthogonalaty condition
S.S0 = 0
Distance
Distance between the line and origin
Between line Determined by the length of a vector P from O and perpendicular to
the line.
P x S = S0 form fig.
S x (P x S)= S x S0
Expanding LHS
(S.S)P – (S.P)S= (S.S)P
So,
𝑆 𝑋 𝑆0
P=
𝑆.𝑆
Mutual moment
The vector equations of two skew lines separated by a perpendicular
distance of a12 and a twist angle of α12
Mm = (r2 – r1 ) . S2 x S1 = -a12sinα12
It is clear that the mutual moment of two lines is independent of the
co-ordinate-frame.
If lines are parallel α = 0 and mutual moment is zero.
If lines intersects a = 0 (lines are coplanar) mutual moment of lines
are always zero.
To define the position of the point P with reference to a standard
point A , there can be no more natural method than to indicate the
straight line along which it would be necessary for a particle to
travel from A in order to arrive at P, as well as the length of the
journey.
A certain axis can be found, such that if the body be rotated around
this axis through a certain angle, and translated parallel to the axis
for a certain distance, the desired movement will be effected.
Screw In order to express, in a scientific manner, the relation between the
rotation and the translation in the movement of a nut upon a screw,
we give to the word pitch a special meaning.
We define the pitch to be the rectilinear distance which the nut
moves along the screw when the nut is rotated through the angular
unit of circular measure.
Defining a screw to be a straight line in space with which a
definite linear magnitude, termed the pitch, is associated.
When the two vectors of a dual vector do not satisfy the
orthogonality condition S.S0 ≠ 0, which is the more general case, the
dual vector is called a screw
It is denoted by
$ = (S;S0), S.S0 ≠ 0
When |S| = 1 ,$ is a unit vector
S is not origin dependent, S0 is origin dependent.
Screw If the origin is shifted from point O to point A, the moment of S
about A can be obtained as
SA= S0 + AO x S
If S ≠ 0, we can obtain the origin-independent variable
𝑆. 𝑆 0
ℎ=
𝑆. 𝑆
Which is called the pitch of screw
The line vector is a special screw with a zero pitch.
A screw with an infinite pitch is called a couple.
A line vector corresponds to a straight line in space, and a screw also has its
axis line. To determine the axis line that the screw lies on, S0 is decomposed
into two parts, which are parallel and perpendicular to S.
S0-hS is normal to S and S0 - hS=S0
The equation of axis of screw is given by
OR
This indicates that a line vector and a couple can combine to form a screw,
or that any screw with non-zero finite pitch can be considered the summation
of a line vector and a couple.
A body is said to receive a twist about a screw when it is rotated
about the screw, while it is at the same time translated parallel to the
screw, through a distance equal to the product of the pitch and the
Twist circular measure of the angle of rotation.
If a body receive several twists in succession, then the position
finally attained could have been reached in a single twist, which is
called the resultant twist.
We now introduce the word wrench, to denote a force and a
couple in a plane perpendicular to the force.
Remembering the definition of a screw, we may use the phrase,
wrench on a screw, meaning thereby, a force directed along the
screw and a couple in a plane perpendicular to the screw, the
Wrench moment of the couple being equal to the product of the force and
the pitch of the screw.
If a rigid body be acted upon by several wrenches, then these
wrenches could be replaced by one wrench which is called the
resultant wrench.
Screw
vs
Wrench
Screw
vs
Wrench
• The reciprocal product of two screws, say $1 = (S1;S01), $1 = (S1;S02) is defined
by
• When the origin of the coordinate system shifts from point O to point A, the
two screws $1 and $2 become
Reciprocal
Product • The reciprocal product of the two new screws is
• This result indicates that the reciprocal product of two screws is not origin
dependent.
The axis of rotation is S. Such a rotation can be described by the
Instantaneous angular velocity line vector
Rotation Where ω is the amplitude of the rotation and S is the unit vector in
the direction of the line.
OR
Twist Acting When the origin is located on the axis S1, this force screw can be
expressed as
on a Body
When the origin does not lie on the axis S1, the force screw is