Analytical Identification of the Principal Screws of the Third Order Screw System

Abstract

Screw theory, as a theoretical tool, plays an important role in the kinematic analysis of mechanisms and robot manipulators. The principal screws are the basic and important elements of the screw system. In robotics practice, the twist of an end-effector is easily obtained by the linear combination of the joint screws. However, the principal screws of the end-effector screw system are unknown. This paper presents an analytical method for identification of the principal screws in the third order screw system by using the conic section degenerating theory. The work presented in this paper is significant for further studies of the screw system.